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catcheffector.h

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00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
00002 
00003    this file is part of rcssserver3D
00004    Fri May 9 2003
00005    Copyright (C) 2002,2003 Koblenz University
00006    Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
00007 
00008    This program is free software; you can redistribute it and/or modify
00009    it under the terms of the GNU General Public License as published by
00010    the Free Software Foundation; version 2 of the License.
00011 
00012    This program is distributed in the hope that it will be useful,
00013    but WITHOUT ANY WARRANTY; without even the implied warranty of
00014    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015    GNU General Public License for more details.
00016 
00017    You should have received a copy of the GNU General Public License
00018    along with this program; if not, write to the Free Software
00019    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00020 */
00021 #ifndef CATCHEFFECTOR_H
00022 #define CATCHEFFECTOR_H
00023 
00024 #include <oxygen/agentaspect/effector.h>
00025 #include <oxygen/physicsserver/body.h>
00026 #include <soccer/ball/ball.h>
00027 #include <soccer/ballstateaspect/ballstateaspect.h>
00028 
00029 namespace salt
00030 {
00031     class AABB2;
00032 }
00033 
00034 namespace oxygen
00035 {
00036     class Body;
00037     class AgentAspect;
00038 }
00039 
00040 class AgentState;
00041 
00042 class SoccerRuleAspect;
00043 
00044 class CatchEffector : public oxygen::Effector
00045 {
00046 public:
00047     CatchEffector();
00048     virtual ~CatchEffector();
00049 
00051     virtual bool Realize(boost::shared_ptr<oxygen::ActionObject> action);
00052 
00054     virtual std::string GetPredicate() { return "catch"; }
00055 
00057     virtual boost::shared_ptr<oxygen::ActionObject>
00058     GetActionObject(const oxygen::Predicate& predicate);
00059 
00061     virtual void OnLink();
00062 
00064     virtual void OnUnlink();
00065 
00067     void SetCatchMargin(float margin);
00068 
00069 protected:
00071     void MoveBall(const salt::Vector3f& pos);
00073     boost::shared_ptr<SoccerRuleAspect> mSoccerRule;
00074 
00075 protected:
00077     boost::shared_ptr<oxygen::Body> mBallBody;
00079     boost::shared_ptr<oxygen::AgentAspect> mAgent;
00081     boost::shared_ptr<AgentState> mAgentState;
00082 
00084     salt::AABB2 mRightPenaltyArea;
00086     salt::AABB2 mLeftPenaltyArea;
00087 
00089     float mFieldLength;
00091     float mGoalWidth;
00092 
00093 private:
00095     float mCatchMargin;
00097     float mPlayerRadius;
00099     float mBallRadius;
00100 };
00101 
00102 DECLARE_CLASS(CatchEffector);
00103 
00104 #endif // CATCHEFFECTOR_H

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