captureHomeBlood_move_strategy.h

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//
// Created by lq on 2020/7/25.
//
 
#ifndef ICRA_FIREFLY_ROBORTS_ROBORTS_DECISION_STRATEGY_MOVE_STRATEGYS_CAPTUREHOMEBLOOD_MOVE_STRATEGY_H_
#define ICRA_FIREFLY_ROBORTS_ROBORTS_DECISION_STRATEGY_MOVE_STRATEGYS_CAPTUREHOMEBLOOD_MOVE_STRATEGY_H_
 
#include "../abstract_common_strategy.h"
 
namespace roborts_decision {
 
class CaptureOurBloodStrategy : public AbstractCommonStrategy {
 public:
  CaptureOurBloodStrategy(std::shared_ptr<MyRobot> p_my_robot, std::shared_ptr<Blackboard> p_blackboard);
 
  void run() override;
 
  StrategyID getID() override { return StrategyID::captureHomeBloodMove; }
 
  bool CanExecuteMe() override;
 
  BehaviorState Update() override { return behavior_state_; }
 
  void Reset() override { behavior_state_ = BehaviorState::IDLE; }
 
 private:
  bool JudgeBloodZoneIsOurs(const BuffZoneStatus &bzs);
};
 
}
 
#endif //ICRA_FIREFLY_ROBORTS_ROBORTS_DECISION_STRATEGY_MOVE_STRATEGYS_CAPTUREHOMEBLOOD_MOVE_STRATEGY_H_