basicaction.h

FIRA 5V5比赛中一个机器人源代码 本科毕业设计做的

// BasicAction.h: interface for the CBasicAction class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_BASICACTION_H__7199AA9B_6491_4422_8D6D_53662C8323E4__INCLUDED_)
#define AFX_BASICACTION_H__7199AA9B_6491_4422_8D6D_53662C8323E4__INCLUDED_

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

#include "Strategy.h"
#define ROBOT_RADIUS 7
#define ANTI_CLOCKWISE 0
#define CLOCKWISE 1

class CBasicAction  
{
public:
	CBasicAction(Environment *env);	
	void avoidObstacle(Environment *env, int whichRobot,Vector3D targetPoint);

	void brake(int robotNo);
	double decideRobotFront(double angle);
	double findRobotMomentum(int whichRobot);

	bool isInBetweenPos(Environment *env, Vector3D firstPosition, Vector3D secondPosition, Vector3D robotPosition, double desireWidth);
	bool isJam(Environment *env, int whichRobot);//lex: done in 19-6-2003
	bool isOppoDribble(OpponentRobot *Opponent_robot, Ball *ball);//LEX: to detect the opponent drebble the balll or not
	bool isPathClear(Environment *env, Vector3D firstPosition, Vector3D secondPosition);
	void lexSineTurn(Vector3D destination,int whichRobot);

	void orbit(Vector3D orbitPoint,Robot *robot,int whichRobot,int dist,int direction);
	void position(Vector3D destination, int whichRobot);
	void positionMyro(Vector3D destination,/* double finalSpeed, BOOL speedFlag, double finalAngle, BOOL angleFlag,*/ int whichRobot);
	void positionRobotToField(Vector3D destination,int whichRobot,int distanceError,double positionAngle);
	void positionRobotToBall(Vector3D destination,Robot *robot,int whichRobot,int distanceError,int positionAngle);
	double robotToBallAngle(Robot *robot);
	void shootStraight(Robot *robot);
	void sineTurn(Vector3D destination,/* double finalSpeed, BOOL SpeedFlag, double finalAngle, BOOL AngleFlag,*/ int whichRobot);
	void spin(Robot *robot,int speed,int direction);
	void turnAngle(int whichRobot, double desiredAngle);

	virtual ~CBasicAction();

	Environment *env;
};

#endif // !defined(AFX_BASICACTION_H__7199AA9B_6491_4422_8D6D_53662C8323E4__INCLUDED_)