beh_dribble_ball.h

// Walk and kick behaviour state: Dribble ball
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>
 
 // Ensure header is only included once
#ifndef BEH_DRIBBLE_BALL_H
#define BEH_DRIBBLE_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 BehDribbleBall : public GazeBehLookForBall
    {
    public:
        // Constructor
        BehDribbleBall(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);

        // Dribble check functions
        bool okToDribble() const;
        bool stillOkToDribble() const;

        // Helper functions
        float minBallTargetWedge() const;
        float calcArcTheta(const Vec2f& vector) const;
        float calcPathAngle(bool useRightFoot, const Vec2f& robotE, Vec2f& robotToBehindBallE, Vec2f& robotToPathTargetE) const;
        float calcPathInterpFactor(const Vec2f& robotToBehindBallE, float localPathAngle) const;
        float calcWalkAngle(const Vec2f& robotToBehindBallE, float interpFactor, float localPathAngle, float pathAngle) const;

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

    private:
        // State variables
        bool m_useRightFoot;
        TheWorm m_changeToRightFoot;
    };
}

#endif
// EOF