public class DynamicStaticKick extends SingleComplexBehavior implements IKick
Constructor and Description |
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DynamicStaticKick(java.lang.String name,
IThoughtModel thoughtModel,
ParameterMap params,
java.util.Map<java.lang.String,IBehavior> behaviors,
IBehavior defaultBehavior,
IKick balance,
IKick kick,
boolean isForwardKick)
Constructor
|
Modifier and Type | Method and Description |
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IBehavior |
decideNextBasicBehavior()
Decide for a single next behavior.
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static DynamicStaticKick |
getForwardKickLeft(IThoughtModel thoughtModel,
ParameterMap params,
java.util.Map<java.lang.String,IBehavior> behaviors) |
static DynamicStaticKick |
getForwardKickRight(IThoughtModel thoughtModel,
ParameterMap params,
java.util.Map<java.lang.String,IBehavior> behaviors) |
SupportFoot |
getKickingFoot()
Retrieve the foot with which this kick kicks.
|
double |
getMaxKickDistance() |
IPose2D |
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.
|
IBehavior |
getRootBehavior()
To prevent switching from lower behaviors, we return this behavior here.
|
static DynamicStaticKick |
getSidewardKickLeft(IThoughtModel thoughtModel,
ParameterMap params,
java.util.Map<java.lang.String,IBehavior> behaviors) |
static DynamicStaticKick |
getSidewardKickRight(IThoughtModel thoughtModel,
ParameterMap params,
java.util.Map<java.lang.String,IBehavior> behaviors) |
static DynamicStaticKick |
getSloMoKickLeft(IThoughtModel thoughtModel,
ParameterMap params,
java.util.Map<java.lang.String,IBehavior> behaviors) |
static DynamicStaticKick |
getSloMoKickRight(IThoughtModel thoughtModel,
ParameterMap params,
java.util.Map<java.lang.String,IBehavior> behaviors) |
void |
init()
Reinitializes the Behavior-StateMachine (if present)
|
float |
isBallKickable()
Check if the ball is kickable with this kick into the intended kick
direction set via
IKick.setIntendedKickDirection(Angle) . |
boolean |
isFinished()
Check if this behavior is finished performing
|
void |
setIntendedKickDirection(Angle intendedKickDirection)
Set the intended global kick direction.
|
void |
setKickPower(float kickPower) |
abort, getCurrentBehavior, getCurrentBehaviorchain, isBehaviorInExecution, onLeavingBehavior, perform, switchFrom, toString
getConsecutivePerforms, getIntensity, getName, getPerforms, getSuccessfulPerforms, getUnsuccessfulPerforms, reload, setIntensity, setName, stayIn
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
abort, getConsecutivePerforms, getIntensity, getName, getPerforms, getSuccessfulPerforms, getUnsuccessfulPerforms, onLeavingBehavior, perform, reload, setIntensity, stayIn, switchFrom
public DynamicStaticKick(java.lang.String name, IThoughtModel thoughtModel, ParameterMap params, java.util.Map<java.lang.String,IBehavior> behaviors, IBehavior defaultBehavior, IKick balance, IKick kick, boolean isForwardKick)
thoughtModel
- Reference to the thought model objectparams
- Behavior parametersbehaviors
- List of available behaviorspublic static DynamicStaticKick getSloMoKickLeft(IThoughtModel thoughtModel, ParameterMap params, java.util.Map<java.lang.String,IBehavior> behaviors)
public static DynamicStaticKick getSloMoKickRight(IThoughtModel thoughtModel, ParameterMap params, java.util.Map<java.lang.String,IBehavior> behaviors)
public static DynamicStaticKick getForwardKickLeft(IThoughtModel thoughtModel, ParameterMap params, java.util.Map<java.lang.String,IBehavior> behaviors)
public static DynamicStaticKick getForwardKickRight(IThoughtModel thoughtModel, ParameterMap params, java.util.Map<java.lang.String,IBehavior> behaviors)
public static DynamicStaticKick getSidewardKickLeft(IThoughtModel thoughtModel, ParameterMap params, java.util.Map<java.lang.String,IBehavior> behaviors)
public static DynamicStaticKick getSidewardKickRight(IThoughtModel thoughtModel, ParameterMap params, java.util.Map<java.lang.String,IBehavior> behaviors)
public IBehavior decideNextBasicBehavior()
SingleComplexBehavior
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 float isBallKickable()
IKick
IKick.setIntendedKickDirection(Angle)
.isBallKickable
in interface IKick
public IPose2D getRelativeRunToPose()
IKick
getRelativeRunToPose
in interface IKick
public double getMaxKickDistance()
getMaxKickDistance
in interface IKick
public void setKickPower(float kickPower)
setKickPower
in interface IKick
kickPower
- the kickPower to set (factor 2 means half long)public void init()
IBehavior
init
in interface IBehavior
init
in class ComplexBehavior
public boolean isFinished()
IBehavior
isFinished
in interface IBehavior
isFinished
in class ComplexBehavior
public IBehavior getRootBehavior()
getRootBehavior
in interface IBehavior
getRootBehavior
in class ComplexBehavior