MotorAi.h

00001 #ifndef MOTOR_AI_H
00002 #define MOTOR_AI_H
00003 
00019 #include "Observer.h"
00020 #include "PlansysObservation.h"
00021 #include "mainplansys.h"
00022 #include "waypoint.h"
00023 #include "posix_message_config.h"
00024 #include "init.h"
00025 
00026 class MotorAi: public Observer {
00027   public:
00028     MotorAi( PlansysObservation * , int theTeamColor );
00029     ~MotorAi();
00030     void Update( Subject *, int typeOfObservation);
00031     int GetPriority();
00032     int AgentGlobalPriority();
00033     int GetAction( controll_struct *ai_controll_struct );
00034     int SetAgentActive( int active );
00035     int StrategyInterrupted();
00036     int GetInterruptAction(interrupt_controll_struct *interrupt_controll);
00037 
00038 
00039   private:
00045     int agentPriority;
00046     int inAction;
00047     int activeStrategy;
00048     int lastWaypointReached;
00049     PlansysObservation *_subject; // referece to subject
00050 //    robot_state_3dof_posix robot_state_3d;
00051     ai_waypoint ai_waypoint_3d;
00052     proxy_message my_proxy_message;
00053     cv_observation my_cv_observation;
00054     collision_detection_message collision_message;
00055     controll_struct local_controll_struct;
00056 
00057     timeval collision_timer;
00058     double collision_time_value_1;
00059     double collision_time_value_2;
00060     int collision_counter;
00061 
00062 };
00063 
00064 #endif

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