beh_go_behind_ball.h

// Walk and kick behaviour state: Go behind ball
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>
 
 // Ensure header is only included once
#ifndef BEH_GO_BEHIND_BALL_H
#define BEH_GO_BEHIND_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 BehGoBehindBall : public GazeBehLookForBall
    {
    public:
        // Constructor
        BehGoBehindBall(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
        BAType ballActionTip() const { return m_ballActionTip; }
        bool useRightFoot() const { return m_useRightFoot; }

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

    private:
        // Constants
        static const float MinReqBallDirX;
        static const float MinRadius;

        // Helper functions
        float minDesiredBallDist(float ballAngle, float reqBallDirX) const;

        // State variables
        bool m_useRightFoot;
        TheWorm m_changeToRightFoot;
        Counter m_unforceFoot;
        Counter m_stuck;
        BAType m_ballActionTip;

        // Misc variables
        Vec2fArray m_path; // Not part of the behaviour state => This is only used temporarily for plotting to avoid constant memory allocations
    };
}

#endif
// EOF