/***************************************************************************************** *                                      SEU-3D *                     ------------------------------------------------- * Copyright (c) 2005, Yuan XU<xychn15@yahoo.com.cn>,Chang'e SHI<evelinesce@yahoo.com.cn> * Copyright (c) 2006, Yuan XU<xuyuan.cn@gmail.com>,Chunlu JIANG<JamAceWatermelon@gmail.com> * Southeast University ,China * All rights reserved. * * Additionally,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; either version 2 of the License, or * (at your option) any later version. * * 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 Library 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. ****************************************************************************************//** * @flie           Action.h * * @brief 對agent基本動作的封裝/the wrapper of agent's basic actions * *LastModify: * $Id: Action.h,v 1.1.1.1 2006/09/15 02:03:05 Administrator Exp $ */ #ifndef _ACTION_H#define _ACTION_H#ifdef __cplusplusextern "C"{#endif#ifdef __cplusplus}#endif#include "Settings.h"#include <set>#include <map>#include "Geometry.h"using namespace salt;/** 枚舉基本動作/enum all the basic actions */enum BasicActionType{	BAT_ILLEGAL	=	0,/**<  非法動作 */		BAT_DRIVE	=	1,/**<  跑/drive */	BAT_KICK	=	2,/**<  踢/kick */	BAT_BEAM	=	4,/**<  傳送/beam */	BAT_PANTILT =	5,/**<  轉頭/pantilt */	BAT_SAY     =	6,/**<  說/say */	BAT_CATCH	=	7 /**<	抓球(守門員[1號])/catch the ball(only the goalie[num 1]) */};struct BasicActionData{	Vector3f _vec;	//string _msg;	BasicActionData(){};	BasicActionData( const Vector3f& vec ):_vec(vec){};	//BasicActionData( const string& msg ):_msg(msg){};};/*************************************************************//********************* ACTION ********************************//*************************************************************/class Action{public:	typedef std::map<BasicActionType, BasicActionData> ActionMap;	/*===========================*/	/* 公有函數/Public Functions  */	/*===========================*/		/** 缺省構造函數/default Constructor */	explicit Action():_time(0){};		/** 析構函數/Destructors */	~Action(){}			/** @name 設置動作/set the action */		/** 設置動作執行的時間/set the action execution time */	void setTime( Time time ){ _time = time; }		/** 設置為drive動作 */	void setDriveForce( const Vector3f& driveForce )	{ _action[BAT_DRIVE] = BasicActionData(driveForce); }		/** 設置為kick動作 */	void setKick( AngDeg kickAngle, float kickForce )	{ _action[BAT_KICK] = BasicActionData(Vector3f(kickAngle,kickForce,0.0f)); }		/** 設置kick力量,如果該動作存在的話  */	bool setKickForce( float kickForce )	{ ActionMap::iterator iter = _action.find(BAT_KICK);		if ( iter == _action.end() ) return false;		iter->second._vec.y() = kickForce; return true;}		/** 設置kick豎直角度,如果該動作存在的話  */	bool setKickAng	( AngDeg kickAngle )	{ ActionMap::iterator iter = _action.find(BAT_KICK);		if ( iter == _action.end() ) return false;		iter->second._vec.x() = kickAngle; return true;}		/** 設置為beam動作 */	void setBeam( const Vector3f& driveForce )	{ _action[BAT_BEAM] = BasicActionData(driveForce); }			/** 設置為pantilt動作 */	void setPanTiltDelta( AngDeg panDelta, AngDeg tiltDelta )	{ _action[BAT_PANTILT] = BasicActionData(Vector3f(panDelta,tiltDelta,0.0f)); }		/** 設置pantilt水平角度改變,如果該動作存在的話 */	bool setPanDelta( AngDeg panDelta )	{ ActionMap::iterator iter = _action.find(BAT_PANTILT);		if ( iter == _action.end() ) return false;		iter->second._vec.x() = panDelta; return true;}		/** 設置pantilt水平角度改變,如果該動作存在的話 */	bool setTiltDelta( AngDeg tiltDelta )	{ ActionMap::iterator iter = _action.find(BAT_PANTILT);		if ( iter == _action.end() ) return false;		iter->second._vec.y() = tiltDelta; return true;}		/** 設置為say動作 */	void setSay()	{ _action[BAT_SAY] = BasicActionData(); }		/** 設置為catch動作 */	void setCatch()	{ _action[BAT_CATCH] = BasicActionData(); }			/** @name 獲取動作相關信息/get the info of the action */		/** 獲取動作執行時間/get the action execution time */	Time getTime()const { return _time; }		/** 獲取drive力量 */	const Vector3f& getDriveForce() const	{ ActionMap::const_iterator iter = _action.find(BAT_DRIVE);		if ( iter == _action.end() ) return vector3f_illegal;		return iter->second._vec; }		/** 獲取kick豎直角度 */	AngDeg getKickAngle()const	{ ActionMap::const_iterator iter = _action.find(BAT_KICK);		if ( iter == _action.end() ) return max_kick_angle;		return iter->second._vec.x(); }		/** 獲取kick力量 */	float getKickForce()const	{ ActionMap::const_iterator iter = _action.find(BAT_KICK);		if ( iter == _action.end() ) return max_kick_force;		return iter->second._vec.y(); }		/** test if execute the kick action	 *  @param[in] t the test time	 *  @return boolen indicates if kicking	 */	bool isKicking()const { return _action.find(BAT_KICK)!=_action.end(); }		//AngDeg		getPanDelta()	const { return _panDelta; }	//AngDeg		getTiltDelta()	const { return _tiltDelta; }		/** 獲取動作map的首迭代器/get the begin const_iterator of the action map */	ActionMap::const_iterator begin()const{ return _action.begin(); }		/** 獲取動作map的尾迭代器/get the end const_iterator of the action map */	ActionMap::const_iterator end()const{ return _action.end(); }			/** @name 重載操作符/overload operators */	Action operator+ ( const Action &anotherAction ) const;	Action& operator+= ( const Action &anotherAction);	Action& operator-= ( const BasicActionType type);		/** 下面這些函數不推薦使用,只是為了兼容舊的代碼 */	//void setActionType ( ActionT type ) const{;}		private:	/*===========================*/	/* 私有成員/Private Attributes */	/*===========================*/	/** 動作執行的時間/the action execution time */	Time	 	_time;	/** 動作所需要的數據 */	ActionMap _action;};/*************************************************************//********************* ACTION DEQUE **************************//*************************************************************/class ActionDeque{private:	deque<Action> _actions;public:	ActionDeque(){};	ActionDeque(const Action& act){ pushAction(act); }	void			pushAction( const ActionDeque &actions);	void			pushAction( const Action &a );	const Action&	getAction( Time time )const;	set<Time>		getActionDequeTime()const;	bool			popAction( Time time, Action& action );	Action			popAction();	bool			isIncludeTime( Time time)const;	bool			isEmpty() const;	const deque<Action>&	get() const { return _actions; }	ActionDeque& operator= ( const ActionDeque &another );	template < class T >	ActionDeque& operator+= ( const T &newAction ) { pushAction(newAction); return *this; }		/** 移除所有該類型的動作/remove all the type of aciton */	ActionDeque& operator-= ( BasicActionType type );		/** remove the action before the given time */	ActionDeque& operator-= ( Time t );		bool			removeNoNeedAction(bool isKickable);		/** test if execute the kick action	 *  @param[in] t the test time	 *  @return boolen indicates if kicking	 */	bool isKicking(Time t)const;};typedef ActionDeque Actions;#endif /* _ACTION_H */