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ballstateaspect.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    $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

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