#ifndef ROBOT_STRUCT_H
#define ROBOT_STRUCT_H
namespace personal_RobotParmspace
{
#define ROBOTS 7
	/**額外添加的部分機器人參數，為速度估計準備**/
#define ROBOT_WHEEL_DIS 550//機器人左右輪距單位為毫米
#define OrientationBase 1.57079632679490//機器人當前朝向在機器人坐標系中的角度，單位弧度
	/*********************************/
	enum Role{attacker,assistAttackerOne,assistAttackerTwo,defender,assistDefenderOne,assistDefenderTwo,goalKeeper};
	/*enum State{normal,special};*/
	enum State{normal,kickOutBoundary,defendOutBoundary,kickCornerBall,defendCornerBall,kickGoleBall,defendGoleBall,
		kickBeforDoorPoint,defendBeforeDoorPoint,deadBall,stop,kickFreeBall,defendFreeBall};
	enum GameState{blue_Kickoff='K',blue_FreeKick='F',blue_CornerKick='C',blue_GoaledTheTarget='G',blue_ThrowIn='T',blue_PenaltyKick='P',
		Yellow_Kickoff='k',Yellow_FreeKick='f',Yellow_CornerKick='c',Yellow_GoaledTheTarget='g',Yellow_ThrowIn='t',Yellow_PenaltyKick='p',
		StartGame='s',StopGame='o',DroppedBall='d',Endhalf='e',InRunning='i'};//輸入為O時返回StopGame

	typedef struct Robot 
	{
		Role role;
		float translationX;
		float translationZ;
		float rotation;
	}Robot;
	typedef struct Ball 
	{
		float translationX;
		float translationZ;
	}Ball;
	typedef struct SpecialObs 
	{
		bool exist;
		float translationX;
		float translationZ;//此結構體存儲開場發球時把球當作障礙物時球的坐標
	}SpecialObs;
	typedef struct Position 
	{
		float translationX;
		float translationZ;
	}Position;
	typedef struct WorldInfo 
	{
		State stateInfo;//決定是正常比賽狀態還是裁判狀態
		Robot robotInfo[ROBOTS];
		Ball ballInfo;
		int area;
		Position leaderPos;
		SpecialObs specialObsInfo;
	}WorldInfo;

}

#endif