self.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 SELF_H
#define SELF_H

#include "types.h"
#include "./RobotModel/robot.h"
#include "./WorldModel/player.h"

#include <boost/shared_ptr.hpp>
#include "./Utilities/StaticModule.h"

#define SELF StaticModule<Self>::getInstance()


class TrainServer;
class WorldModel;
class FieldInfo;
class Action;

class Self : public Player
{
    friend class WorldModel;
public:
    enum ERobotModel {
        EUnknownModel,
        ENaoModel,
        ESoccerbotModel
    };

public:
    Self();
    ~Self();

    int CurrentCycle;

    bool Init();

    void UpdateRobotMatrix(const salt::Matrix& mat);

    std::string GetModelFileName() const;

    ERobotModel GetRobotModel() const;

    boost::shared_ptr<Action> GetAction(const std::string& actionType) const;
	
	void setGyroAngularVel ( int i, float value );
	void setLFCenterVel    ( int i, float value );
	void setRFCenterVel    ( int i, float value );
	void setLFForce        ( int i, float value );
 	void setRFForce        ( int i, float value ); 
	
protected:

    void OnUnlink();

private:
   	boost::shared_ptr<FieldInfo>       mFieldInfo;

   	boost::shared_ptr<WorldModel>      mWorldModel;
	boost::shared_ptr<Robot>    mRobot;


    	ERobotModel                 mRobotModel;

    /** hear infomation received from hear msg*/
    HearInfo                    mHearInfo;

    /** center position of left foot force resistance perceptor
     *  (in local coordinate)
     */
    salt::Vector3f              mLFCenter;

    /** center position of right foot force resistance perceptor
     *  (in local coordinate)
     */
    salt::Vector3f              mRFCenter;

    /** force of left foot force resistance perceptor
     *  (in local coordinate)
     */
    salt::Vector3f              mLFForce;

    /** force of right foot force resistance perceptor
     *  (in local coordinate)
     */
    salt::Vector3f              mRFForce;

    /** angular veolcity of torso (in local coordinate, in degrees)
     */
    salt::Vector3f              mGyroAngularVel;
};

#endif