public abstract class Kick extends MovementBehavior implements IKick
Constructor and Description |
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Kick(java.lang.String name,
IThoughtModel thoughtModel,
Pose2D relativeRunToPose,
double maxKickDistance,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D[] shootPoly) |
Modifier and Type | Method and Description |
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SupportFoot |
getKickingFoot()
Retrieve the foot with which this kick kicks.
|
double |
getMaxKickDistance() |
Pose2D |
getRelativeRunToPose()
Retrieve the pose relative to the ball and intended kick direction, to
which we should navigate in order to be able to perform this kick.
|
float |
isBallKickable()
Check if the ball is kickable with this kick into the intended kick
direction set via
IKick.setIntendedKickDirection(Angle) . |
void |
setIntendedKickDirection(Angle intendedKickDirection)
Set the intended global kick direction.
|
void |
setKickPower(float kickPower) |
init, isFinished, perform
abort, getConsecutivePerforms, getIntensity, getName, getPerforms, getRootBehavior, getSuccessfulPerforms, getUnsuccessfulPerforms, onLeavingBehavior, reload, setIntensity, setName, stayIn, switchFrom, toString
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
abort, getConsecutivePerforms, getIntensity, getName, getPerforms, getRootBehavior, getSuccessfulPerforms, getUnsuccessfulPerforms, init, isFinished, onLeavingBehavior, perform, reload, setIntensity, stayIn, switchFrom
public Kick(java.lang.String name, IThoughtModel thoughtModel, Pose2D relativeRunToPose, double maxKickDistance, org.apache.commons.math3.geometry.euclidean.threed.Vector3D[] shootPoly)
name
- the name of the kickthoughtModel
- Reference to the thought model objectkickDirection
- angle in which the shoot will go relative to the body
directionballFacingDirection
- direction we have to face relative to the ballmaxBallDistance
- max distance to the ball to hit the ballmaxKickDistance
- the maximum kick distance this kick is able to kickshootPoly
- polygon inside which the ball has to be to be kickableinitCount
- the value to start counting with cntpublic void setKickPower(float kickPower)
setKickPower
in interface IKick
kickPower
- the kickPower to set (factor 2 means half long)public void setIntendedKickDirection(Angle intendedKickDirection)
IKick
setIntendedKickDirection
in interface IKick
intendedKickDirection
- - the intended kick direction in the global
systempublic SupportFoot getKickingFoot()
IKick
getKickingFoot
in interface IKick
public Pose2D getRelativeRunToPose()
IKick
getRelativeRunToPose
in interface IKick
public double getMaxKickDistance()
getMaxKickDistance
in interface IKick
public float isBallKickable()
IKick
IKick.setIntendedKickDirection(Angle)
.isBallKickable
in interface IKick