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_
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