keepDirection_defense_move_strategy.h

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