kicknrun.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: kicknrun.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 KICKNRUN_H
#define KICKNRUN_H

#include "soccer.h"
#include "types.h"
#include "goalie.h"
#include "handleball.h"
#include "interception.h"
#include "positioning.h"
#include "field.h"

class KickNRun : public Soccer
{
private:
    Goalie goalie;
    HandleBall handleball;
    Intercept intercept;
    Positioning positioning;

public:
    KickNRun();
    virtual ~KickNRun();

    virtual void Behave();

protected:
    void BehaveBeforeKickOff();

    void BehaveKickOff();
    void BehaveMyKickOff();
    void BehaveTheirKickOff();

    void BehavePlayOn();

    void BehaveKickIn();
    void BehaveMyKickIn();
    void BehaveTheirKickIn();
    void Position() ;
    int Field_Zone (float ,float ,float) ;
    Vector3f Zone_Weight (int) ;
    bool BallIsOurs() ;
    void AdjustHomePos();
    void PostAction();
    void PredictBallPos();
};

DECLARE_CLASS(KickNRun)

#endif // KICKNRUN_H