gaze_beh_look_around.h

// Walk and kick gaze behaviour state: Look around
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>
 
 // Ensure header is only included once
#ifndef GAZE_BEH_LOOK_AROUND_H
#define GAZE_BEH_LOOK_AROUND_H

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

// Walk and kick namespace
namespace walk_and_kick
{
    class GazeBehLookAround : public virtual WAKBehState
    {
    public:
        // Constructor
        GazeBehLookAround(WAKConfig& config, const SensorVars& SV, const WAKBehShared& WBS, const WAKGameShared& WGS, int ID);
        virtual ~GazeBehLookAround() {}

        // Execute function
        virtual void execute(ActuatorVars& AV, const ActuatorVars& lastAV, bool justActivated);

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

        // Reset functions
        void resetGazeSpline();

    private:
        // State variables
        Vec2f m_gazeInit;
        float m_gazeMag;
        int m_gazeTargetID;   // -1 = Look right, 0 = Look down, +1 = Look left
        int m_gazeTargetDirn; // -1 = CCW, +1 = CW
        TrapVelSpline2D m_gazeSpline;
    };
}


#endif
// EOF