skill.h

RoboCup 3D 仿真组清华大学2005的源代码

/***************************************************************************
 *   Copyright (C) 2005 by Rujia Liu                                       *
 *   [e-mail]                                                  *
 *                                                                         *
 *   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; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   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 General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
#ifndef SKILL_H
#define SKILL_H
#include <zeitgeist/leaf.h>
#include <soccer/soccertypes.h>
#include "logserver.h"

class Skill{
public:
    Skill();
    ~Skill();

    // special & easy skills
    bool Kickable();
    void StopMoving();
    void RunToKick();
    
    // kernel skill
    void Goto(salt::Vector3f pos, bool avoid=false);
    
    salt::Vector3f Intercept(int team, int unum, float low, float high, 
                             int& est_time, int& min_time, int& max_time, float pen=0.0); // kernel
    int Intercept(float low=-180.0, float high=180.0, float pen=0.0); // execute my action
    salt::Vector3f GetInterceptPoint(float low=-180.0, float high=180.0, float pen=0.0);
    float InterceptTime(int team, int unum);
    bool Interceptable();   
    
    void Dribble(float angle);
    void Pass(float dist);
    void Shoot();
    
    LogServer log;    
};

#endif