?? goalstraightposplan.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: Darioush Jalali, Mohammad Salehe * * Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. * For more information please read README file.*/#ifndef __GOAL_STRAIGHT_POS_PLAN_H_#define __GOAL_STRAIGHT_POS_PLAN_H_#include <Plan.h>class GoalStraightPosPlan : public Plan{private: float getProperAngle(float angle1, float angle2) const; bool isAngleOK(float angle) const; float getValueForPoint(const Point & point) ; Vector getBestVectorInFreeArea() ; float calculatePath(Vector moveDir, int numPoints, float decay); void turnToGoal();protected: bool isInPenaltyArea(const Point &) const; void setPassingPaths(); VirtualPass virtualPass; std::map < std::pair<int,int>, float > passingPaths;public: GoalStraightPosPlan(const WorldModel *wm, Form &form, const Library &library); ~GoalStraightPosPlan(); virtual void decide(); virtual double successRate(); virtual bool isFinished(); };#endif // __GOAL_POS_PLAN
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