command.h~

底层robocup3d源码。 suse１０．０ kdevelop 开发.

#ifndef MSPACECOMMAND_H
#define MSPACECOMMAND_H
#include <string>
#include "connect.h"
#include "param.h"
#include "worldmodel.h"
extern MSpace::Param param;
namespace MSpace {

/**
@author root
*/
struct DriveMessage
{
	long sentcycle;
	Vec force;
};
class Command{
public:
    Command();
    void Create(std::string TeamName,int Number);
    void Done();
    void Kick(Angel ang,float force);
    void Drive(Vec v);
    void PutKick(Angel ang,float force);
    void PutDrive(Vec v);
    void PutCatch();
    void SentCommand();
    void Beam(Vec v);
    void Catch();
    void TurnCamera(Angel pan,Angel tilt);
    void Say(std::string word);
    void Notify(int time);
    Vec GetLastDriveForce();
    long GetLastDriveCycle();
    ~Command();
private:
	queue <std::string>comq;
	DriveMessage lastdrive;
};

}

#endif