?? groupworks.h
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/* * Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET). * * 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. * * 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. * * This file is created by: Ahmad Boorghany * * Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. * For more information please read README file.*/#ifndef __GROUP_WORKS_H#define __GROUP_WORKS_H#include <SayDecision.h>#include <Positioning.h>#include <VirtualPass.h>#include <HeadDecision.h>class Library;enum WithoutBallSelection{ WOBS_LOOKFORBALL, WOBS_BLOCK, WOBS_INTERCEPT, WOBS_POSITIONING, WOBS_OFFENSE, WOBS_DEFENSE};class GroupWorks{protected: bool interceptSay; bool interceptBlock; unsigned interceptNum; unsigned lastPassHearTime;// unsigned requestNum;// unsigned lastRequestNum;// unsigned hearedRequestPassNum;// unsigned hearedRequestPassTime;// unsigned hearedRequestPassSender; const WorldModel *worldModel; unsigned lastSRPDribbleTime;// VirtualKickCalculate virtualKickCalc;// VirtualPass virtualPass; float getBlockWeight(const Point &ballStopPoint, const Player &player) const; void SpecifyOffenseDefense(WithoutBallSelection &selection) const;public: GroupWorks(const WorldModel *worldModel); bool getChangeInterceptNumPermission() const; void updateInterceptNum(Library &library); void resetByChangePlayMode(); void setInterceptNumByPassSay(unsigned uniNum); void changeInterceptNumByHear(unsigned sender, unsigned uniNum); void signInterceptNum(SayDecisionForm &sayForm); WithoutBallSelection getWithoutBallSelection(const Library &library) const;// void suggestPassSayManager();// void requestSuggestPassSayManager();// bool getPassSayRequestPermittion(); void updateAfterSenseBody(); void decide(); // setting functions// void setHearedRequestPassNum(unsigned hearedRequestPassNumArg);// void setHearedRequestPassTime(unsigned hearedRequestPassTimeArg);// void setHearedRequestPassSender(unsigned hearedRequestPassNumSenderArg);};#endif // __GROUP_WORKS_H
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