behavior.h

robocup3d源化码 Nexus3D.tar.gz

/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

this file is part of rcssserver3D
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
$Id: behavior.h,v 1.2 2004/02/12 14:07:21 fruit Exp $

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; version 2 of the License.

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., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef BEHAVIOR_H
#define BEHAVIOR_H

#include <zeitgeist/leaf.h>
#include "worldmodel.h"
#include "commserver.h"


class Behavior : public zeitgeist::Leaf
{
public:
    Behavior();
    virtual ~Behavior();

    void ProcessInitMessage();
    void ProcessThinkTimeMessage();

    virtual void Think();

    static std::string DoneThinkingMessage() { return "D"; }
    static std::string DoneInitMessage() { return "I"; }

protected:
    virtual void OnLink();
    virtual void OnUnlink();

protected:
    /** a reference to the WorldModel */
    boost::shared_ptr<WorldModel> mWM;

    /** a reference to the CommServer */
    boost::shared_ptr<CommServer> mComm;

    /** a reference to the CommServer */
   // boost::shared_ptr<Soccer> Action;
};

DECLARE_CLASS(Behavior)

#endif // BEHAVIOR_H