captureBullets_move_strategy.h

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//
// Created by lq on 2020/7/25.
//
 
#ifndef ICRA_FIREFLY_ROBORTS_CAPTUREBULLETS_MOVE_STRATEGY_H
#define ICRA_FIREFLY_ROBORTS_CAPTUREBULLETS_MOVE_STRATEGY_H
 
#include "../abstract_common_strategy.h"
 
namespace roborts_decision {
 
class CaptureBulletsMoveStrategy : public AbstractCommonStrategy {
 public:
  CaptureBulletsMoveStrategy(const std::shared_ptr<MyRobot> &pMyRobot,
                             const std::shared_ptr<Blackboard> &pBlackboard);
 
  void run() override;
 
  StrategyID getID() override { return StrategyID::captureBulletsMove; }
 
  BehaviorState Update() override;
 
  void Reset() override;
 
  bool CanExecuteMe() override;
 
 private:
  int init_blood{0};
 
 
  double GetDistanceBetweenRobotAndBuff(BuffStatus buff_status);
 
  bool IsLossBloodQuick();
 
};
 
}
 
 
 
#endif //ICRA_FIREFLY_ROBORTS_CAPTUREBULLETS_MOVE_STRATEGY_H