#ifndef strat_hh #define strat_hh // io-hub - Modular Input/Output. {{{ // // Copyright (C) 2013 Nicolas Schodet // // APBTeam: // Web: http://apbteam.org/ // Email: team AT apbteam DOT org // // This program is free software; you can redistribute it and/or modify // it under the terms of the GNU General Public License as published by // the Free Software Foundation; either version 2 of the License, or // (at your option) any later version. // // This program is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. // // }}} #include "defs.hh" #include "playground_2013.hh" /// High level strategy decision making. class Strat { public: enum Decision { CANDLES, }; /// Information on a candle decision. struct CandlesDecision { /// Movement direction, 1 (trigo) or -1 (antitrigo). int dir_sign; /// Angle relative to cake to end the movement. uint16_t end_angle; }; public: /// Return new decision and associated position. Decision decision (vect_t &pos); /// Take a decision related to candles, return false to give up candles. bool decision_candles (CandlesDecision &decision, uint16_t robot_angle); /// Report a failure to apply the previous decision. void failure (); }; #endif // strat_hh