goalstraightposplan.h

IRAN mesard_2d 2005源代码

/*
 *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET).
 *
 *  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.
 *
 *  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 Library General Public License for more details.
 *
 *  This file is created by: Darioush Jalali, Mohammad Salehe
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/


#ifndef __GOAL_STRAIGHT_POS_PLAN_H_
#define __GOAL_STRAIGHT_POS_PLAN_H_

#include <Plan.h>

class GoalStraightPosPlan : public Plan
{
private:
	float getProperAngle(float angle1, float angle2) const;
	bool isAngleOK(float angle) const;
	float getValueForPoint(const Point & point) ;
	Vector  getBestVectorInFreeArea() ;
	float  calculatePath(Vector moveDir, int numPoints, float decay);
	void  turnToGoal();
protected:

  bool isInPenaltyArea(const Point &) const;
	void setPassingPaths();

	VirtualPass virtualPass;
	std::map < std::pair<int,int>, float > passingPaths;
public:
	GoalStraightPosPlan(const WorldModel *wm, Form &form, const Library &library);
	~GoalStraightPosPlan();

	virtual void decide();

	virtual double successRate();
	virtual bool isFinished();
        
};

#endif // __GOAL_POS_PLAN