// DecisionMakingx.h: interface for the CDecisionMakingx class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_DECISIONMAKINGX_H__E1F060A5_484F_4338_B877_7B533844419F__INCLUDED_)
#define AFX_DECISIONMAKINGX_H__E1F060A5_484F_4338_B877_7B533844419F__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "globe.h"
#include "defines.h"
#include "GeometryR.h"
//#include "Logger.h"

//#include "Formation.h"
//#include "network.h"
//#include "CounterTimer.h"
//#include "Hundun.h"
//#include "svm.h"
//#include "PerfTimer.h"

#include <string>

#define BALLNUMPARA	7


class CDecisionMakingx 
{
public:
	CDecisionMakingx();
	virtual ~CDecisionMakingx();
	void	Startx(RobotInford dmRobot[]);
	void	MiroSot_DecisionMaking();
	void	ToPositionPD(int nRobot, VecPosition posTarget, double speed);
	void	TurnToAnglePD(int nRobot,double dAngle);
	void	Vect_MidShoot(int nRobot);
	void	InitDEG(DEGame DEG);
	void	LimitSpeed(dbLRWheelVelocity* pSpeed, double dMaxSpeed, BOOL bMax = FALSE);
	int		GetAreaNoExample(VecPosition posBall);
	void	GoalieActionExample(int nRobot,double speed);
	void	PreProcess();
	void	PostPrecess();

public:
	RobotInford			Robot[2*ROBOTNUMBER+1], oldRobot[2*ROBOTNUMBER+1], m_PostRobot[ROBOTNUMBER];
	dbLRWheelVelocity	rbV[ROBOTNUMBER], oldrbV[ROBOTNUMBER];
	DEGame				dmDEG;
	VecPosition			m_posBall;		///< 當前球和下周期球位置
};
#endif // !defined(AFX_DECISIONMAKINGX_H__E1F060A5_484F_4338_B877_7B533844419F__INCLUDED_)