behavior.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 BEHAVIOR_H
#define BEHAVIOR_H

#include <string>
#include <boost/shared_ptr.hpp>
#include <boost/any.hpp>

#include "./Utilities/StaticModule.h"

#define BEHAVIOR StaticModule<Behavior>::getInstancePtr()

class WorldModel;
class Tactic;
class Self;
class FieldInfo;
class Action;

class Behavior
{
public:
    Behavior();
    ~Behavior();

    int GetCycle() const;

    std::string InitRobot() const;

    std::string InitAgent() const;

    void SetCommand(const std::string& command);

    const std::string& GetCommand() const;

    const std::string& Think(const std::string& message);

protected:
    void BehaviorDebug();


    void OnUnlink();

private:
    boost::shared_ptr<WorldModel>      mWorldModel;

    boost::shared_ptr<Tactic>          mTactic;

    /** 'CachedPath' is not used. It seems that
     *  it can not be used in 'const' functions ;(
     */
    // CachedPath<Self>            mSelf;
    boost::shared_ptr<Self>     mSelf;
    boost::shared_ptr<FieldInfo> mFieldInfo;

    boost::shared_ptr<Action>   mAction;

    std::string     mActionType;

    boost::any      mActionParams;

    int             mCycle;

    std::string     mCommand;
};

#endif