Modules/BehaviorControl/CommonXabsl2Symbols/GtCamSymbols.h

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/**
* @file GtCamSymbols.h
* 
* @author Matthias Meyer
*/

#ifndef __GTCamSymbols_h_
#define __GTCamSymbols_h_

#include "../BehaviorControl.h"
#include "Tools/Xabsl2/Xabsl2Engine/Xabsl2Engine.h"
#include "Tools/FieldDimensions.h"
#include "Tools/Player.h"

#define GETROBOTX(number)  \
  double getRobot##number##PosX(); \
  double getRobot##number##PosY(); \
  Vector2<double> getRobot##number##Pos();\
  double getRobot##number##SpeedX();\
  double getRobot##number##SpeedY();\
  Vector2<double> getRobot##number##Speed();\
  double getRobot##number##Rotation();\
  double getRobot##number##Distance();


class GTCamSymbols : public Xabsl2FunctionProvider, public BehaviorControlInterfaces
{
public:
  GTCamSymbols(const BehaviorControlInterfaces& interfaces);
  
  /** registers the symbols at an engine */
  void registerSymbols(Xabsl2Engine& engine);
  
    /** updates the symbols */
  void update();
   
  //!@name Input symbols
  //!@{
  Vector2<double> getBall(); 
  double getBallX();
  double getBallY();
  double getBallSpeedX();
  double getBallSpeedY();
  double getOwnDistance();
  double getOwnRotation();
  double getOwnPosX();
  double getOwnPosY();
  double getOwnSpeedX();
  double getOwnSpeedY();

  GETROBOTX(1)
  GETROBOTX(2)
  GETROBOTX(3)
  GETROBOTX(4)
  GETROBOTX(5)
  GETROBOTX(6)
  GETROBOTX(7)
  GETROBOTX(8)
  //!@}


private:
};

#undef GETROBOTX
#endif

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