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 $Id: ballstateaspect.h,v 1.3 2004/03/22 18:10:56 fruit Exp $ 00008 00009 This program is free software; you can redistribute it and/or modify 00010 it under the terms of the GNU General Public License as published by 00011 the Free Software Foundation; version 2 of the License. 00012 00013 This program is distributed in the hope that it will be useful, 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00016 GNU General Public License for more details. 00017 00018 You should have received a copy of the GNU General Public License 00019 along with this program; if not, write to the Free Software 00020 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 00021 */ 00022 #ifndef BALLLSTATEASPECT_H 00023 #define BALLLSTATEASPECT_H 00024 00025 #include <soccer/soccercontrolaspect/soccercontrolaspect.h> 00026 00030 class Ball; 00031 00032 namespace oxygen 00033 { 00034 class RecorderHandler; 00035 class AgentAspect; 00036 } 00037 00038 class BallStateAspect : public SoccerControlAspect 00039 { 00040 public: 00041 BallStateAspect(); 00042 virtual ~BallStateAspect(); 00043 00047 virtual void Update(float deltaTime); 00048 00051 bool GetLastCollidingAgent 00052 (boost::shared_ptr<oxygen::AgentAspect>& agent, TTime& time); 00053 00055 bool GetBallOnField(); 00056 00059 salt::Vector3f GetLastValidBallPosition(); 00060 00063 TTeamIndex GetGoalState(); 00064 00068 void UpdateLastCollidingAgent(boost::shared_ptr<oxygen::AgentAspect> agent); 00069 00070 protected: 00072 virtual void OnLink(); 00073 00075 virtual void OnUnlink(); 00076 00080 void UpdateLastCollidingAgent(); 00081 00085 void UpdateBallOnField(); 00086 00089 void UpdateGoalState(); 00090 00094 void UpdateLastValidBallPos(); 00095 00096 protected: 00098 boost::shared_ptr<Ball> mBall; 00099 00101 boost::shared_ptr<oxygen::RecorderHandler> mBallRecorder; 00102 00104 boost::shared_ptr<oxygen::RecorderHandler> mFieldRecorder; 00105 00107 boost::shared_ptr<oxygen::RecorderHandler> mLeftGoalRecorder; 00108 00110 boost::shared_ptr<oxygen::RecorderHandler> mRightGoalRecorder; 00111 00114 boost::shared_ptr<oxygen::AgentAspect> mLastCollidingAgent; 00115 00117 boost::shared_ptr<GameStateAspect> mGameState; 00118 00120 TTime mLastAgentCollisionTime; 00121 00124 bool mBallOnField; 00125 00127 salt::Vector3f mLastValidBallPos; 00128 00130 TTeamIndex mGoalState; 00131 }; 00132 00133 DECLARE_CLASS(BallStateAspect); 00134 00135 #endif // BALLLSTATEASPECT_H