strategy_execute.h

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//
// Created by wpy on 2020/8/15.
//
 
#ifndef ROBOTRTS_WS_SRC_ICRA_FIREFLY_ROBORTS_ROBORTS_DECISION_STRATEGY_STRATEGY_EXECUTE_H_
#define ROBOTRTS_WS_SRC_ICRA_FIREFLY_ROBORTS_ROBORTS_DECISION_STRATEGY_STRATEGY_EXECUTE_H_
 
#include "abstract_common_strategy.h"
#include "./move_strategys/captureBullets_move_strategy.h"
#include "./move_strategys/captureEnemyBlood_move_strategy.h"
#include "./move_strategys/captureHomeBlood_move_strategy.h"
#include "./move_strategys/keepDirection_attack_move_strategy.h"
#include "./move_strategys/keepDirection_defense_move_strategy.h"
#include "./move_strategys/stop_move_strategy.h"
#include "./shoot_strategys/stop_shoot_strategy.h"
#include "./shoot_strategys/toBetterOpp_shoot_strategy.h"
#include "./shoot_strategys/toWorseOpp_shoot_strategy.h"
namespace roborts_decision {
 
 
class StrategyExecute {
 public:
  explicit StrategyExecute(const ros::NodeHandle &nh = ros::NodeHandle("~"));
  ~StrategyExecute() = default;
 
  static std::shared_ptr<StrategyExecute> GetStrategyExecute();
 
  void ChooseStrategyToExceed(const std::shared_ptr<MyRobot> &p_my_robot, int data);
 
 private:
  std::shared_ptr<Blackboard> p_blackboard_;
 
  ros::NodeHandle nh_;
  ros::Subscriber next_decision_sub_;
 
  static std::shared_ptr<StrategyExecute> p_strategy_execute_;
 
  void NextDecisionCallBack(const std_msgs::Int32::ConstPtr &msg);
 
 
};
}
#endif //ROBOTRTS_WS_SRC_ICRA_FIREFLY_ROBORTS_ROBORTS_DECISION_STRATEGY_STRATEGY_EXECUTE_H_