mainplansys.h

00001 #ifndef MAIN_PLANSYS_H
00002 #define MAIN_PLANSYS_H
00003 
00004 #include "debug.h"
00005 #include "observation_structs.h"
00006 #include <vector>
00007 #include <signal.h>
00008 
00009 void catch_sighup(int sig_num);
00010 
00011 const int GAME_TIME = 88;
00012 const int GAME_TIME_MESSAGE = 200;
00013 
00014 
00015 
00016 const int TABLE_SIZE_X = 3000;
00017 const int TABLE_SIZE_Y = 2100;
00018 
00019 const int ACTIVE = 1;
00020 const int INACTIVE = -1;
00021 const int INTERRUPTED = -2;
00022 
00023 const int FALSE = 0;
00024 const int TRUE = 1;
00025 
00026 const double MAX_SPEED_MPS = 10.0;
00027 
00028 
00029 typedef struct time_message {
00030   int gameTime;
00031   int timeLeft;
00032   
00033 };
00034 
00041 typedef struct controll_struct {
00042   bool setMaxSpeed;
00043   double maxSpeed_mps; 
00044   bool clearWaypoints;
00045   bool clearTheActiveStrategy;
00046   bool interrupt;
00047   int activeStrategyInterrupted;
00048 
00049   std::vector<int> command;
00053   std::vector<ai_waypoint> _ai_waypoint;
00057   std::vector<ai_waypoint> _ai_waypoint_rel_robot;
00058 };
00059 
00060 typedef struct interrupt_controll_struct {
00061   bool stopRobot;
00062   bool clearActiveStrategy;
00063   std::vector<ai_waypoint> _interrupt_ai_waypoint;
00064   
00065 };
00066 
00067 
00068 
00069 #endif

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