goaliepositioning.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: Meisam Vosoughpour
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#ifndef __GOALIE_POSITIONING_H
#define __GOALIE_POSITIONING_H

#include <AdvancedAction.h>

class GoaliePositioning : public AdvancedAction
{
protected:
	Command *goaliePositioningCommand;
	
	void setGoalieParams();
	void setGoalieParamsLineMode();
	
	Point shootToTirSimulate(Point sourcePoint, Point BeforePoint, 
						float idealBodyAngle, float firstDashLength, 
						float maxChangeDistance, float miniChangeDist);
	
	Point goalieHomePoint;
	float mainIdealBetweenAngle;

public:
	GoaliePositioning(const WorldModel *worldModel);
	
	virtual void execute(Form &form, const Library &library);
	virtual float getValue(const Library &library);
};

#endif // __GOALIE_POSITIONING_H