game_default_goalie.h

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

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

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

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

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

    private:
        // State variables
        DynamicTargetPose m_cmdTarget;
        int m_reqBehState;
    };
}

#endif
// EOF