chaseaction.h

FIRA 5V5比赛中一个机器人源代码 本科毕业设计做的

// ChaseAction.h: interface for the CChaseAction class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_CHASEACTION_H__109F05D0_2B3C_486D_825F_20294ABAC253__INCLUDED_)
#define AFX_CHASEACTION_H__109F05D0_2B3C_486D_825F_20294ABAC253__INCLUDED_

#define RIGHT 0
#define ABOVERIGHT 45
#define ABOVE 90
#define ABOVELEFT 135
#define LEFT 180
#define BELOWLEFT 225
#define BELOW 270
#define BELOWRIGHT 315

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

#include "Strategy.h"
#include "BasicAction.h"

class CChaseAction : public CBasicAction
{
public:
	CChaseAction(Environment *envPointer, UserDefStruct *UserDataPointer);
	virtual ~CChaseAction();

public:
	void ChaseBallBlindly(Vector3D Destination,Robot *robot,int WhichRobot);
//	void Go_Above_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty);
//	void Go_AboveNBehind_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty);
//	void Go_AboveNFront_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty);
//	void Go_Behind_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty);
//	void Go_Below_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty);
//	void Go_BelowNBehind_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty);
//	void Go_BelowNFront_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty);
//	void Go_Front_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty);
	void Herd_Ball(Vector3D Destination,Robot *robot,int WhichRobot,int dist);
	void Orbit(Vector3D OrbitPoint,Robot *robot,int WhichRobot,int dist,int direction);
	void PositionRobottoField(Vector3D Destination,int WhichRobot,int distanceError,double PositionAngle);
	void PositionRobottoBall(Vector3D Destination,Robot *robot,int WhichRobot,int distanceError,int PositionAngle);
	void ObstacleTest();
public:
	UserDefStruct *UserData;
	Environment *env;	
};

extern CBasicAction BasicAction(Environment *envPointer, UserDefStruct *UserDataPointer);

#endif // !defined(AFX_CHASEACTION_H__109F05D0_2B3C_486D_825F_20294ABAC253__INCLUDED_)