search_ball_bms.h

Brainstormers(头脑风暴)队是05年robocup冠军,这是05年Brainstormers公布的源代码,Brainstormers是robocup老牌的德国强队

/*
Brainstormers 2D (Soccer Simulation League 2D)
PUBLIC SOURCE CODE RELEASE 2005
Copyright (C) 1998-2005 Neuroinformatics Group,
                        University of Osnabrueck, Germany

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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
*/

#ifndef _SEARCH_BALL_BMS_H_
#define _SEARCH_BALL_BMS_H_

/* This behavior looks for the ball if we don't know where it is, and
   makes appropriate body turns to find it. NECK_REQ_SCANFORBALL is set,
   and the neck behavior must care for this request!
   
   If we DO know where the ball is (i.e. WSinfo::is_ball_pos_valid() is true),
   no cmd is set and get_cmd returns false!
   If you want to face the ball no matter if we know its position, use the
   FaceBall behavior (it will call SearchBall if needed).
*/

#include "../base_bm.h"
#include "types.h"
#include "cmd.h"
#include "log_macros.h"

class SearchBall : public BaseBehavior {
  static bool initialized;

  //int number_of_turns;
  static long time_of_turn;
  static long ms_time_of_last_sb;
  static bool turn_left;
  //bool ball_invalid;

  static int looked_to_ball,looked_left,looked_right;
  static ANGLE cur_vang_ball,cur_vang_left,cur_vang_right;
  static ANGLE next_vang_ball,next_vang_left,next_vang_right;
  static ANGLE last_updated_angle,my_angle_to_ball;
  static Vector new_ball_pos;
  bool got_update;
  
 public:
  void start_search();            // reset behavior
  bool get_cmd(Cmd &cmd);  // returns false if we already know the ball position or do not need to turn

  bool is_searching();     // returns true if we are currently searching the ball
  
  static bool init(char const * conf_file, int argc, char const* const* argv) {
    if(initialized) return true;
    initialized = true;
    std::cout << "\nSearchBall behavior initialized.";
    return true;
  }
  SearchBall() { time_of_turn = -2; ms_time_of_last_sb=-1000;}
};

#endif