KickTo::KickTo(World& w ,double _target_angle){
// angle:count = 90:15
//std::cout << "KickTo constructed!!" << std::endl;
finish_flag = false;
is_kicked = false;
target_angle = _target_angle;
judgement(w);
updateFinishFlag(w);
}
std::string Attack::getNextAngle(World& w) {
std::stringstream ss;
if((w.getPlaymode()=="BeforeKickOff" ||
w.getPlaymode()=="Goal_Left" ||
w.getPlaymode()=="Goal_Right")){
beam_flag = true;
start_flag = true;
ss << "(beam " << initpos[0] << " "
<< initpos[1] << " " << initpos[2]
<< ")";
// std::cout << ss.str() << std::endl;
while(!elementList.empty()){
ElementBase* tmp = elementList.front();
delete tmp;
elementList.pop_front();
}
elementList.push_back(new SequenceMovement("DUMMY"));
}
if((w.getPlaymode()=="KickOff_Left" || w.getPlaymode()=="KickOff_Right") && w.getUnum() == 10 && start_flag == true){
elementList.push_front(new Kick());
start_flag = false;
}
else if((w.getPlaymode()=="KickOff_left" || w.getPlaymode()=="KickOff_Right") && start_flag == true){
elementList.push_back(new SequenceMovement("DUMMY"));
start_flag = false;
}
rtn = elementList.front()->getNextAngle(w);
if(beam_flag){
rtn += ss.str();
beam_flag = false;
}
if (elementList.front()->isFinished())
{
ElementBase* tmp = elementList.front();
delete tmp;
elementList.pop_front();
}
if (finishAllChild(w))
{
updateFinishFlag(w);
}
return rtn;
}
AdjustToBall::AdjustToBall(World& w){
finish_flag = false;
for(int i=0; i<2; i++){
ballpos[i] = w.getBXY(i);
bal[i] = w.getBAL(i);
}
conf_ballpos = w.confBXY();
conf_bal = w.confBAL();
x = w.getXY(0);
y = w.getXY(1);
conf_XY = w.confXY();
t_count = abs(15 * bal[1] / 360);
judgement(w);
updateFinishFlag(w);
}
