stop_shoot_strategy.h

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//
// Created by lq on 2020/7/25.
//
 
#ifndef ICRA_FIREFLY_ROBORTS_STOP_SHOOT_STRATEGY_H
#define ICRA_FIREFLY_ROBORTS_STOP_SHOOT_STRATEGY_H
 
#include "../abstract_common_strategy.h"
 
namespace roborts_decision {
 
class StopShootStrategy : public AbstractCommonStrategy {
 public:
  StopShootStrategy(const std::shared_ptr<MyRobot> &pMyRobot,
                    const std::shared_ptr<Blackboard> &pBlackboard);
 
  void run() override;
 
  StrategyID getID() override { return StrategyID::stopShoot; }
 
  BehaviorState Update() override;
 
  void Reset() override;
 
  bool CanExecuteMe();
 
 private:
 
  double GetLongerDistanceFromTwoRobot();
 
  bool IsObstacleOntheTrack();
};
 
}  // namespace roborts_decision
 
#endif  // ICRA_FIREFLY_ROBORTS_STOP_SHOOT_STRATEGY_H