coach_ball_object.h

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// -*-c++-*-
 
/*
 *Copyright:
 
 Copyright (C) Hidehisa AKIYAMA
 
 This code is free software; you can redistribute it and/or
 modify it under the terms of the GNU Lesser General Public
 License as published by the Free Software Foundation; either
 version 3 of the License, or (at your option) any later version.
 
 This library is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 Lesser General Public License for more details.
 
 You should have received a copy of the GNU Lesser General Public
 License along with this library; if not, write to the Free Software
 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 
 *EndCopyright:
 */
 
 
#ifndef RCSC_COACH_BALL_OBJECT_H
#define RCSC_COACH_BALL_OBJECT_H
 
#include <rcsc/geom/vector_2d.h>
#include <rcsc/types.h>
 
namespace rcsc {
 
class CoachBallObject {
private:
 
    Vector2D M_pos; 
    Vector2D M_vel; 
 
public:
 
    CoachBallObject();
 
    const Vector2D & pos() const
      {
          return M_pos;
      }
 
    const Vector2D & vel() const
      {
          return M_vel;
      }
 
    const CoachBallObject & setValue( const double x,
                                      const double y,
                                      const double vx,
                                      const double vy )
      {
          M_pos.assign( x, y );
          M_vel.assign( vx, vy );
          return *this;
      }
 
    void reverseSide()
      {
          M_pos.reverse();
          M_vel.reverse();
      }
 
    // inertia movement calculators
 
    Vector2D inertiaTravel( const int step ) const;
 
    Vector2D inertiaPoint( const int cycle ) const;
 
 
    Vector2D inertiaFinalPoint() const;
 
};
 
}
 
#endif