gaze_beh_look_for_ball.h

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

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

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

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

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

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


#endif
// EOF