?? saydecision.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 __SAY_DECISION_H#define __SAY_DECISION_H#include <WorldModel.h>#define RELATED_PLAYER_X_RANGE 47.5#define RELATED_PLAYER_Y_RANGE 30struct SayDecisionForm{ bool doRoutinSay; bool beforePassSay; bool suggestPassSay; float passDir; float passSpeed; float passWeight; unsigned passPlayerNum; unsigned interceptNum; unsigned attentionNum; bool freeKickSay; int freeKickAdviceNumber; unsigned planStatus; unsigned gwInterceptNum; unsigned gwAttentionNum; bool planSay; std::string planHeader; std::string planInfo; bool radarSay; int radarPlayersNum; int ids[3]; Vector radarPlayers[3]; SayDecisionForm(); void reset();};class Command;class SayDecision{ const WorldModel *worldModel; Command *sayCommand; Command *attentionCommand;public: SayDecision(const WorldModel *worldModel); ~SayDecision(); bool getSayRoutinBallPermission(const SayDecisionForm &sayForm); void saySuggestPass(const SayDecisionForm &sayForm); void sayBeforePass(const Command *bodyCycleCommand, const SayDecisionForm &sayForm); void sayBeforePassRelated(const Command *bodyCycleCommand, const SayDecisionForm &sayForm); void sayRoutinBall(const Command *bodyCycleCommand, const SayDecisionForm &sayForm); void sayFreeKick(const SayDecisionForm &sayForm); void sayPlan(const SayDecisionForm &sayForm); void sayRadar(const SayDecisionForm &sayForm); void decide(const Command *bodyCycleCommand, SayDecisionForm &sayForm); Command *getSayCommand(); Command *getAttentionCommand();};#endif // __SAY_DECISION_H
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