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PlayerObject.h

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/* -*- Mode: C++ -*-
 * $Id: PlayerObject.h,v 1.4 2006/10/05 07:35:21 frehe Exp $
 *
 *
 * COPYRIGHT INFORMATION
 *
 * This file is part of RoboSoc created by Fredrik Heintz <frehe@ida.liu.se>
 * Copyright (C) 1999, 2000 Fredrik Heintz, Linköping University, Sweden
 *
 * You are allowed to modify and use this code as long as you retain this
 * notice. If you make any changes or have any comments I would appreciate
 * it if you send me a message. For more information, please see
 * http://www.ida.liu.se/~frehe/RoboCup/RoboSoc/
 *
 *
 * IDENTIFICATION
 *
 * Filename: PlayerObject.h
 * Unitname: Library
 * $Revision: 1.4 $
 * Created by: Fredrik Heintz 1999-xx-xx
 * Last modified by $Author: frehe $ $Date: 2006/10/05 07:35:21 $
 *
 *
 * HISTORY
 *
 * $Log: PlayerObject.h,v $
 * Revision 1.4  2006/10/05 07:35:21  frehe
 * Added a isRelativePointBehind method.
 *
 * Revision 1.3  2006/09/25 20:19:22  frehe
 * Added behind and in front methods.
 *
 * Revision 1.2  2006/09/08 16:37:02  frehe
 * Added more helpers.
 *
 * Revision 1.1  2006/09/06 18:03:35  frehe
 * Moved files from Library to BasicSystem.
 *
 * Revision 1.5  2003/11/04 17:17:33  frehe
 * Moved the goalie information from AgentObject to PlayerObject.
 *
 * Revision 1.4  2003/07/21 09:21:12  s02davro
 * Tackle, arm update
 *
 * Revision 1.3  2002/08/31 14:46:02  s02davro
 * Small changes in the game objects.
 *
 * Revision 1.2  2002/08/02 21:36:41  s02davro
 * Change types, removed some methods. Relative -> Global position and angles.
 *
 * Revision 1.1  2000/09/01 03:24:32  frehe
 * Importet the current version of RoboSoc (soon to be v2.5.0)
 *
 * Revision 1.1.1.1  2000/08/31 13:26:04  frehe
 * Importet the current version of RoboSoc (soon to be v2.5.0)
 *
 */

#ifndef PLAYEROBJECT_H
#define PLAYEROBJECT_H


#include "MobileObject.h"


RS_BEGIN_NAMESPACE


class PlayerObject : public MobileObject {
public:
  PlayerObject(const PointUE& def_point = PointUE(),
         const TimeUnknown& def_time = TimeUnknown(),
         const VectorUE& def_speed = VectorUE(),
         const TimeUnknown& def_speed_time = TimeUnknown(),
         const AngleDegUE& def_body_dir = AngleDegUE(),
         const AngleDegUE& def_neck_dir = AngleDegUE(),
         const AngleDegUE& def_point_dir = AngleDegUE(),
         const bool def_tackling = false,
         const bool def_goalie = false,
         const Team def_team = T_UNKNOWN,
         const Side def_side = S_UNKNOWN,
         const TimeUnknown& def_team_time = TimeUnknown(),
         const UIntUnknown def_u_number = UIntUnknown(),
         const TimeUnknown& def_unum_time = TimeUnknown(),
         const VectorUE& def_acceleration = VectorUE());

  PlayerObject(const PlayerObject& obj);

  PlayerObject& operator= (const PlayerObject& obj);

  void setBodyDirection(const AngleDegUE& ang);

  AngleDegUE getBodyDirection() const;

  AngleDegUE getRelativeBodyDirectionToPoint(const PointUE& point) const;

  AngleDegUE getRelativeBodyDirectionTo(const AngleDegUE& dir) const;
  
  VectorUE getRelativeVectorTo(const PointUE& point) const;

  FuzzyBool isPointInFrontOf(const PointUE& point) const;

  FuzzyBool isPointBehind(const PointUE& point) const;

  FuzzyBool isRelativePointBehind(const PointUE& point) const;

  void setNeckDirection(const AngleDegUE& ang);

  AngleDegUE getNeckDirection() const;

  AngleDegUE getRelativeNeckDirection() const;

  AngleDegUE getMinNeckDirection() const;

  AngleDegUE getMaxNeckDirection() const;

  AngleDegUE getRelativeNeckDirectionToPoint(const PointUE& point) const;

  AngleDegUE getRelativeNeckDirectionToDirection(const AngleDegUE& dir) const;

  void setPointDirection(const AngleDegUE& ang);

  AngleDegUE getPointDirection() const;

  void setTackling(const bool tackle);

  bool getTackling() const;

  void setTeam(const Team tm);
  
  void setTeam(const Side our_side);

  Team getTeam() const;
  
  void setGoalie(const bool goalie_);

  bool isGoalie() const;
  
  void setSide(const Side new_side);

  Side getSide() const;
  
  void setTeamObservationTime(const TimeUnknown& def_team_time);

  TimeUnknown getTeamObservationTime() const;

  void setUniformNumber(const UIntUnknown u_num);

  UIntUnknown getUniformNumber() const;

  void setUniformNumberObservationTime(const TimeUnknown& def_unum_time);

  TimeUnknown getUniformNumberObservationTime() const;

protected:
  AngleDegUE bodyDir;

  AngleDegUE neckDir;

  AngleDegUE pointDir;

  bool tackling;

  Team team;

  bool goalie;
  
  Side side;

  TimeUnknown teamObservationTime;

  UIntUnknown uNumber;

  TimeUnknown uNumberObservationTime;
};


RS_END_NAMESPACE


/* CONDITIONAL INCLUSION OF INLINE DEFINITIONS
 *
 * If the compiler and debugger understands the keyword inline then include
 * the inline definitions here, otherwise include them in the definition file.
 *
 * This is controlled by a flag called RS_USE_INLINE, which is usually
 * defined. It can be set by the user by giving the compiler an argument
 * usually -DRS_USE_INLINE (to define it) or -URS_USE_INLINE (to undefine it).
 */

#ifdef RS_USE_INLINE
#  include "PlayerObject.icc"
#endif


#endif // !PLAYEROBJECT_H

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