game_default_ball_handling.h

// Walk and kick game state: Default ball handling
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>
 
 // Ensure header is only included once
#ifndef GAME_DEFAULT_BALL_HANDLING_H
#define GAME_DEFAULT_BALL_HANDLING_H

// Includes
#include <walk_and_kick/wak_game_state.h>

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

        // Execute function
        virtual void execute(GameVars& GV, const GameVars& lastGV, bool justActivated);

        // Ball target calculation using a local ball position
        void calcCompassBallTarget(GameVars& GV, const Vec2f& ballDir, int goalSign) const;

        // Ball target calculation using a global ball pose
        void calcPoseBallTarget(GameVars& GV, const Vec2f& ballPose, int goalSign) const;
        bool ballInCorner(const Vec2f& ballPoseGS, float postY, int cornerSign) const;

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

#endif
// EOF