Modules/BehaviorControl/CommonXabsl2Symbols/KickSelectionSymbols.h

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/** 
* @file KickSelectionSymbols.h
*
* Declaration of class KickSelectionSymbols.
*
* @author Martin Lötzsch
*/

#ifndef __KickSelectionSymbols_h_
#define __KickSelectionSymbols_h_

#include "../BehaviorControl.h"
#include "Tools/Xabsl2/Xabsl2Engine/Xabsl2Engine.h"
#include "Tools/KickSelectionTable.h"

/**
* The Xabsl2 symbols that are defined in "kick-selection-symbols.xml"
*
* @author Martin Lötzsch
*/ 
class KickSelectionSymbols : public Xabsl2FunctionProvider, public BehaviorControlInterfaces
{
public:
  /*
  * Constructor.
  * @param interfaces The paramters of the BehaviorControl module.
  * @param fileName The file name of the kick selection table to load
  */
  KickSelectionSymbols(BehaviorControlInterfaces& interfaces, const char* fileName);
  
  /** registers the symbols at an engine */
  void registerSymbols(Xabsl2Engine& engine);

  /** A function for the function "retrieve-kick" */
  double retrieveKick();

  double intentionalKickPossible();
  double intentionalKickXOffset();
  double intentionalKickYOffset();
  double intentionalKickKick();

  double intentionalKickTargetX();
  double intentionalKickTargetY();


  /** 
  * Is called for every incoming debug message.
  * @param message An interface to read the message from the queue
  * @return if the messag was read
  */
  bool handleMessage(InMessage& message);

protected:
  /** The function parameter "retrieve-kick.angle" */
  double angle;

  /** The function parameter "retrieve-kick.angle-width" */
  double angleWidth;

  /** The function parameter "retrieve-kick.table-id" */
  double tableID;

  double intentionalAngle;
  double intentionalTable;
  double intentionalKick;
  /** The kick selection table that is used */
  KickSelectionTable kickSelectionTable;

private:
  Vector2<double> intentionalKickOffset;
};


#endif // __KickSelectionSymbols_h_

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