StrikerStrategyTask.java

/*
 * 作成日: 2008/06/13
 */
package jp.ac.fit.asura.nao.strategy.schedulers;

import org.apache.log4j.Logger;

import jp.ac.fit.asura.nao.RobotContext;
import jp.ac.fit.asura.nao.motion.Motions;
import jp.ac.fit.asura.nao.strategy.StrategyContext;
import jp.ac.fit.asura.nao.strategy.Team;
import jp.ac.fit.asura.nao.vision.VisualObjects;

/**
 * @author $Author: sey $
 *
 * @version $Id: StrikerStrategyTask.java 709 2008-11-23 07:40:31Z sey $
 *
 */
public class StrikerStrategyTask extends StrategyTask {
	private Logger log = Logger.getLogger(StrikerStrategyTask.class);

	public void enter(StrategyContext context) {
		log.info("I'm a Striker");
	}

	// context.makemotion(Motions.MOTION_STOP);

	public void fillQueue(StrategyContext context) {
		if (context.getBall().getConfidence() > 0) {

			if (context.getKickOffTeam() == context.getTeam()
					&& !context.getWalkFlag()) {

				// ここでストライカーの動きを決める
				context.pushQueue("KickOff01Task");// ここでKickOffの番号指定,もしくはDefenceAttackを使う
			} else {
				context.pushQueue("GetBallTask");
			}

		} else {
			context.pushQueue("FindBallTask");
		}
	}

	@Override
	public String getName() {
		return "StrikerStrategyTask";
	}

}