basicturn.h

RoboCup 2D 仿真组老牌强队Mersad 2005的完整源代码

/*
 *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET).
 *
 *  This program is free software, you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU Library General Public License for more details.
 *
 *  This file is created by: Mohammad Salehe
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#ifndef __BASIC_TURN_H
#define __BASIC_TURN_H

#include <BasicAction.h>

#ifndef NULL
#	define NULL 0
#endif // NULL

class Ball;
class Player;
class Body;
class Object;

class BasicTurn: public BasicAction
{
protected:
	float deltaAngle;
	
	float necessaryTurnAngle;
	float requestedTargetAngle;
	float performedTurnAngle;
	float performedTurnMoment;

	bool oneTurnPossible;

	Command *turnCommand;

public:
	BasicTurn(ActionType creator);

	virtual Command *getCommand() = 0;
	
	float getDeltaAngle();
	
	float getNecessaryTurnAngle();
	float getRequestedTargetAngle();
	float getPerformedTurnAngle();
	float getPerformedTurnMoment();

	bool isOneTurnPossible();

	// static functions for public turn-related calculations
	static float getTurnMoment(float angle, const Player &player);
	static float getTurnAngle(float moment, const Player &player);
	static int actionsToTurnAngle(float angle, const Player &player,
			float maxDeltaAngle = 0);
};

class TurnAngle: public BasicTurn
{
protected:
	
public:
	TurnAngle(ActionType creator, float angle, const Body &body, float maxDeltaAngle = 0);
	virtual Command *getCommand();
};

class TurnToAngle: public BasicTurn
{
protected:
	
public:
	TurnToAngle(ActionType creator, float angle, const Body &body, float maxDeltaAngle = 0);
	virtual Command *getCommand();
};

class TurnToPoint: public BasicTurn
{
protected:
	
public:
	TurnToPoint(ActionType creator, const Point &point, const Body &body, float maxDeltaAngle = 0);
	virtual Command *getCommand();
};

class TurnToObject: public BasicTurn
{
protected:
	
public:
	TurnToObject(ActionType creator, const Object &object, const Body &body, float maxDeltaAngle = 0);
	virtual Command *getCommand();
};

#endif // __BASIC_TURN_H