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# Modules/BehaviorControl/CommonXabsl2Symbols/FieldSymbols.h

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    00001 /**
    00002 * @file FieldSymbols.h
    00003 *
    00004 * Declaration of class FieldSymbols.
    00005 *
    00006 * @author Patrick Stamm & Marcus Schobbe
    00007 */
    00008
    00009 #ifndef __FieldSymbols_h_
    00010 #define __FieldSymbols_h_
    00011
    00012 #include "../BehaviorControl.h"
    00013 #include "Tools/Xabsl2/Xabsl2Engine/Xabsl2Engine.h"
    00014 #include "Tools/FieldDimensions.h"
    00015 #include "Tools/Actorics/RobotDimensions.h"
    00016
    00017 /**
    00018 * The Xabsl2 symbols that are defined in "robot-pose-symbols.xml"
    00019 *
    00020 * @author Patrick Stamm & Marcus Schobbe
    00021 */
    00022
    00023 class FieldSymbols : public Xabsl2FunctionProvider, public BehaviorControlInterfaces
    00024 {
    00025   public:
    00026 /*
    00027 * Constructor.
    00028 * @param interfaces The paramters of the BehaviorControl module.
    00029   */
    00030   FieldSymbols(const BehaviorControlInterfaces& interfaces);
    00031
    00032   /** registers the symbols at an engine */
    00033   void registerSymbols(Xabsl2Engine& engine);
    00034 private:
    00035   double xPosOwnGroundline;
    00036   double xPosOpponentGroundline;
    00037   double xPosOwnGoal;
    00038   double xPosOpponentGoal;
    00039   double xPosOwnPenaltyArea;
    00040   double xPosOpponentPenaltyArea;
    00041   double yPosLeftGoal;
    00042   double yPosRightGoal;
    00043   double yPosLeftSideline;
    00044   double yPosRightSideline;
    00045   double yPosLeftPenaltyArea;
    00046   double yPosRightPenaltyArea;
    00047   //Throw-in points:
    00048   double xPosThrowInPointOpponentHalf;
    00049   double xPosThrowInPointCenter;
    00050   double xPosThrowInPointOwnHalf;
    00051   double yPosThrowInPointLeft;
    00052   double yPosThrowInPointRight;
    00053 };
    00054
    00055 #endif // __FieldSymbols_h_