basicagent.h

robocup 3d, a 3d base team similar to UvA 2d

/*
*********************************************************************************
*                            In the name of Almighty                            *
*                                                                               *
*           BasicAgent.h : Robocup 3D Soccer Simulation Team Zigorat            *
*                     (This team was previously named Gcyrus)                   *
*                                                                               *
*  Date: 03/20/2007                                                             *
*  Author: Mahdi Hamdarsi                                                       *
*  Comments: This file contains class decleration BasicAgent which contains     *
*            several routines needed for thinkin' module                        *
*                                                                               *
*********************************************************************************
*/

/*! \file BasicAgent.h
<pre>
<b>File:</b>          BasicAgent.h
<b>Project:</b>       Robocup Soccer Simulation Team: Zigorat
<b>Authors:</b>       Mahdi Hamdarsi
<b>Created:</b>       03/20/2007
<b>Last Revision:</b> $ID$
<b>Contents:</b>      This file contains class decleration BasicAgent which contains
               several routines needed for thinkin' module
<hr size=2>
<h2><b>Changes</b></h2>
<b>Date</b>             <b>Author</b>          <b>Comment</b>
03/20/2007       Mahdi           Initial version created
</pre>
*/


#ifndef BASICAGENT_H
#define BASICAGENT_H

#include "ActHandler.h"
#include "Connection.h"
#include "WorldModel.h"

/*! This class defines the skills that can be used by an agent. No
    functionality is available that chooses when to execute which skill, this
    is done in the Agent class. The WorldModel is used to determine the way
    in which the skills are performed. */
class BasicAgent
{
protected:
    TRoboCupConnection * connection;  /*!< Reference to Connection instance */
    ActHandler         * ACT;         /*!< Reference to the ActHandler instance */
    WorldModel         * WM;          /*!< Reference to WorldModle class */

    /// Initializing
    void  InitializePlayerPosition(                                           );
    void  sendPlayerInformation(                                              );
    void  beam                 ( double dx, double dy, double dang            );

    /// Changing joints
    bool  adjustJoint          ( JointT id, double dSpeed1,
                                 double dSpeed2 = UnknownDoubleValue          );

    ///  Changing of Hinge joints
    bool  rotateLeg            ( SideT side, AngDeg value, double dSpeed = -1 );
    bool  rotateArm            ( SideT side, AngDeg value, double dSpeed = -1 );
    bool  knee                 ( SideT side, AngDeg value, double dSpeed = -1 );
    bool  elbow                ( SideT side, AngDeg value, double dSpeed = -1 );

    ///  Changing of universal joints
    bool  hip                  ( SideT side, AngDeg valueFront,
                                             AngDeg valueOpen,
                                             double dSpeed = -1               );
    bool  shoulder             ( SideT side, AngDeg valueFront,
                                             AngDeg valueOpen,
                                             double dSpeed = -1               );
    bool  ankle                ( SideT side, AngDeg valueFront,
                                             AngDeg valueOpen,
                                             double dSpeed = -1               );

    ///  Turning Procedures
    bool turnTo                ( AngDeg ang, bool & start                     );
    bool turnToLeft            ( AngDeg ang, bool & start                     );
    bool turnToRight           ( AngDeg ang, bool & start                     );

    ///  Walking Procedures
    bool walk                  ( bool & start                                 );
    
public:
    BasicAgent                 ( TRoboCupConnection *conn,
                                 WorldModel *wm,
                                 ActHandler *ACT                              );
};

#endif // BASICAGENT_H