/***************************************************************************************** *                                      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. ****************************************************************************************//** * \file            Agent.h * * \brief agent基類/the basic agent class. * * * 實現agent的基本動作,以及初始化,感知-思考-動作的主循環 * * LastModify: * $Id: Agent.h,v 1.1.1.1 2006/09/15 02:03:05 Administrator Exp $ */ #ifndef _AGENT_H#define _AGENT_H#ifdef __cplusplusextern "C"{#endif#ifdef __cplusplus}#endif#include "WorldModel.h"#include "commserver.h"#include "Action.h"#include "Skill.h"class Agent{public:    Agent();    virtual ~Agent();    void processInitMessage();    void processThinkTimeMessage();	/** 處理'O'信息 */	void processOMessage(const std::string& msg);    void think();	virtual void playMatch() = 0;	virtual void init() = 0;    static std::string doneThinkingMessage() { return "D"; }    static std::string doneInitMessage() { return "I"; }    static std::string requestThinkTimeMessage() { return "C"; }			void setTeamName( string teamName ) { _teamName = teamName; }	void setTeamUnum( int teamUnum ) { _teamUnum = teamUnum; }	void requestTimeNotify( int t);	void sendThinkTimeNotifys();	void sendActionNotifys();	void sendAction( const Time t );	void endThink();private:	/** @name  agent的基本動作/basic action of agent */	void createAgent();	void initAgent();	void kick(float angle, float power);	void beam(const salt::Vector3f& position);    void drive(const salt::Vector3f& driveVec);	void say(const string &msg);	void goalieCatch();	void sendBasicAction(const BasicActionType type, const BasicActionData& data );	void done();	void sendAction( const Action& a);protected:	template < class T >	void putActionInQueue( const T &action)	{		_actionQueue.pushAction( action);	}    const salt::Vector3f& getDriveVec() { return _driveVec; }protected:		set<Time> _requestedTime;	int _minLatecy,_maxLatecy;	/** the team name the agent uses with the init effector */    std::string _teamName;    /** the uniform number the agent uses with the init effector. If        left to zero, the server will allocate the next free number */    int _teamUnum;    /** the number of received sensations */    int _sensationCount;    /** the state of the Drive effector */    salt::Vector3f _driveVec;	bool _panTilted;	/** the action of current time */	ActionDeque _actionQueue;		/** actions string */	stringstream _actSS;};#endif /* _AGENT_H */