beh_kick_ball.h

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

        // Kick check functions
        bool okToKick() const;
        bool stillOkToKick() const;

        // Get functions
        bool kickLock() const { return m_kickLock; } // Returns whether kicking is currently locked on
        bool bestKickRight() const; // Returns whether the right foot is currently the best kick foot

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

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

#endif
// EOF