beh_dive_for_ball.h

// Walk and kick behaviour state: Dive for ball
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>
 
 // Ensure header is only included once
#ifndef BEH_DIVE_FOR_BALL_H
#define BEH_DIVE_FOR_BALL_H

// Includes
#include <walk_and_kick/wak_beh_state.h>
#include <walk_and_kick/beh_states/gaze_beh_look_for_ball.h>

// Walk and kick namespace
namespace walk_and_kick
{
    class BehDiveForBall : public GazeBehLookForBall
    {
    public:
        // Constructor
        BehDiveForBall(WAKConfig& config, const SensorVars& SV, const WAKBehShared& WBS, const WAKGameShared& WGS, int ID);

        // Execute function
        virtual void execute(ActuatorVars& AV, const ActuatorVars& lastAV, bool justActivated);

        // Get functions
        bool diveLock() const { return m_diveLock; } // Returns whether diving is currently locked on

    protected:
        // Handle activation function
        virtual void handleActivation(bool nowActive);

    private:
        // State variables
        bool m_diveLock;
    };
}

#endif
// EOF