captureEnemyBlood_move_strategy.h

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//
// Created by lq on 2020/7/25.
//
 
#ifndef ICRA_FIREFLY_ROBORTS_CAPTUREENEMYBLOOD_MOVE_STRATEGY_H
#define ICRA_FIREFLY_ROBORTS_CAPTUREENEMYBLOOD_MOVE_STRATEGY_H
 
#include "../abstract_common_strategy.h"
 
namespace roborts_decision {
class CaptureEnemyBloodMoveStrategy : public AbstractCommonStrategy {
 public:
  CaptureEnemyBloodMoveStrategy(std::shared_ptr<MyRobot> _p_my_robot_,
                                std::shared_ptr<Blackboard> _p_blackboard_);
 
  void run() override;
 
  StrategyID getID() override { return StrategyID::captureEnemyBloodMove; };
 
  BehaviorState Update() override;
 
  void Reset() override;
 
  bool CanExecuteMe() override;
 
 private:
 
  bool judgeBloodZoneIsEnemy(const BuffZoneStatus &bzs);
};
}  // namespace roborts_decision
 
#endif  // ICRA_FIREFLY_ROBORTS_CAPTUREENEMYBLOOD_MOVE_STRATEGY_H