action.h

agentspark 机器人模拟代码 适用robocup 机器人步态模拟仿真（机器人动作在NAOGETUP.cpp下修改）

/*
   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 ACTION_H
#define ACTION_H

#include <boost/any.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/shared_array.hpp>
#include "types.h"
//#include "Logger.h"

class Robot;
class Self;

class Action
{
public:
    Action();
    virtual ~Action();

	    virtual void Init();

    virtual void SetParam(/*boost::any param*/) = 0;

    virtual bool DoAction();

    virtual std::string GetActionCommand() { return mActionCommand; }

    virtual bool IsDone() { return mIsDone; }

protected:

    virtual void OnUnlink();

    virtual void Update();

    virtual void Execute() = 0;

    virtual void GeneralActionCommand();

    /** calculate velocity need achieve the desired angle
     *  for each Joint Angle according to JID
     */
    virtual void CalculateVel(JointID id, float angle, float maxVel);

protected:
    boost::shared_ptr<Robot>    mRobot;

    boost::shared_ptr<Self>     mSelf;

    boost::shared_array<float>  mJointAngle;

    boost::shared_array<float>  mJointVel;

    std::string mActionCommand;

    bool mIsDone;
};


#endif