// -*-c++-*-/***************************************************************************                                   arm.h    Classes for an arm actuator that can be used to point at field locations                             -------------------    begin                : 15-JAN-2002    copyright            : (C) 2001 by The RoboCup Soccer Server                            Maintenance Group.    email                : sserver-admin@lists.sourceforge.net ***************************************************************************//*************************************************************************** *                                                                         * *   This program is free software; you can redistribute it and/or modify  * *   it under the terms of the GNU LGPL as published by the Free Software  * *   Foundation; either version 2 of the License, or (at your option) any  * *   later version.                                                        * *                                                                         * ***************************************************************************/#ifndef _ARM_H_#define _ARM_H_#include "vector.h"#include "utility.h"class Arm{protected:  rcss::geom::Vector2D M_dest;  unsigned int M_timer;  unsigned int M_min_point_duration;  unsigned int M_max_point_duration;  unsigned int M_count;public:  Arm ( const unsigned int& min_point_duration,        const unsigned int& max_point_duration )    : M_timer ( max_point_duration ),      M_min_point_duration ( min_point_duration ),      M_max_point_duration ( max_point_duration ),      M_count ( 0 )  {  }  ~Arm () {}  bool isMovable () const  {    return M_timer >= M_min_point_duration;  }    bool isPointing () const  {    return M_timer < M_max_point_duration;  }  void incAge ()  {    M_timer++;  }  bool pointTo ( const rcss::geom::Vector2D& origin,                 const double& orientation,                 const rcss::geom::Vector2D& rel_dest )  {    if ( isMovable () )      {        M_dest = rel_dest;        M_dest.rotate ( orientation );        M_dest += origin;        M_timer = 0;        M_count++;        return true;       }    else      return false;  }  bool stopPointing ()  {    if ( isMovable () )      {        M_dest.null ();        M_timer = M_max_point_duration;        M_count++;        return true;      }    return false;  }  bool getRelDest ( const rcss::geom::Vector2D& origin,                    const double& orientation,                    rcss::geom::Vector2D& rel_dest ) const  {    if ( isPointing () )      {        rel_dest = M_dest;        rel_dest -= origin;        rel_dest.rotate ( -orientation );        return true;      }    else      return false;  }  bool getRelDir ( const rcss::geom::Vector2D& origin,                   const double& orientation,                   double& rel_dir ) const  {    rcss::geom::Vector2D rel_dest;    if ( getRelDest ( origin, orientation, rel_dest ) )      {        rel_dir = rel_dest.getHead ();        return true;      }    else      return false;  }  unsigned int getCyclesTillExpiry () const  {    return ( isPointing () ? M_max_point_duration - M_timer : 0 );  }    unsigned int getCyclesTillMovable () const  {    return ( isMovable () ? 0 : M_min_point_duration - M_timer );  }  unsigned int getCounter () const  {    return M_count;  }    class State  {  protected:    unsigned int M_cycles_till_movable;    unsigned int M_cycles_till_expires;    double M_dist;    double M_head;    unsigned int M_count;  public:    State ( const rcss::geom::Vector2D& origin,            const double& orientation,            const Arm& arm )      : M_cycles_till_movable ( arm.getCyclesTillMovable () ),        M_cycles_till_expires ( arm.getCyclesTillExpiry () ),        M_dist ( 0 ),        M_head ( 0 ),        M_count ( arm.getCounter () )    {      rcss::geom::Vector2D target;      arm.getRelDest ( origin, orientation, target );      M_dist = rint ( target.getMag () * 10.0 ) * 0.1;      M_head = rint ( Rad2Deg ( target.getHead () ) * 10.0 ) * 0.1;    }        ~State () {}    unsigned int cyclesTillMovable () const { return M_cycles_till_movable; }    unsigned int cyclesTillExpires () const { return M_cycles_till_expires; }    double dist () const { return M_dist; }    double head () const { return M_head; }    unsigned int count () const { return M_count; }     };  State getState ( const rcss::geom::Vector2D& origin,                   const double& orientation ) const  {    return State ( origin, orientation, *this );  }};#endif