team.h

FIRA 5V5比赛中一个机器人源代码 本科毕业设计做的

// Team.h: interface for the Team class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_TEAM_H__16546F36_1AF0_45A5_83D0_269A3E0B71FF__INCLUDED_)
#define AFX_TEAM_H__16546F36_1AF0_45A5_83D0_269A3E0B71FF__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "Attacker.h"
#include "Defender.h"
#include "Goalie.h"
#include "Support.h"
#include "Sweeper.h"

class Team  
{
public:
    int attackerID;
	int supportID;
	int defenderID;
    int sweeperID;
    int goalieID;

	CBasicAction *basicAction;//maybe optional
    CAttacker *attacker;
	CDefender *defender;
	CGoalie *goalie;
	CSupport *support;
	CSweeper *sweeper;

	Environment *env;
	Team(Environment *envPointer);
	virtual ~Team();

/*
	void setAttackerID(int n);
	void setSupportID(int n);
	void setDefenderID(int n);
	void setSweeperID(int n);
	void setGoalieID(int n);
*/
	void normalGame(Environment *env);
	void freeKickMode(Environment *env);

	void assignRole(Environment *env);
	
	void findGoForBallFactor();
	void findRobotToBallDistance();
	void findRobotToRobotDistance();
	void findRobotToOppoRobotDistance();
	void findRobotLastPosition();

	void findRobotToBallAngle();
	void findRobotToRobotAngle();
	void findRobotToGoalAngle();
	void detectOppoBlockBall();

	void faceAngle(int WhichRobot);

	int findClosestRobotToBall();
	int findMostFarRobotToBall();
	int findClosestRobotToRobot(int WhichRobot);
	int findClosestRobotToOppoRobot(int WhichRobot);

};

#endif // !defined(AFX_TEAM_H__16546F36_1AF0_45A5_83D0_269A3E0B71FF__INCLUDED_)