9.11 Headers

The header files headers.cc and headers.h contain references to all the enum variables that are used a unique identifiers for different things. Some of which have been described above such as:

//Skills
enum SkillType {
    SKILL_WALK_OMNI,

    SKILL_STAND,

    SKILL_KICK_LEFT_LEG,
    SKILL_KICK_RIGHT_LEG,

    SKILL_KICK_IK_0_LEFT_LEG,
    SKILL_KICK_IK_0_RIGHT_LEG,

    SKILL_NONE

};

and

//Play Modes
#define PM_BEFORE_KICK_OFF 0
#define PM_KICK_OFF_LEFT   1
#define PM_KICK_OFF_RIGHT  2
#define PM_PLAY_ON         3
#define PM_KICK_IN_LEFT    4
#define PM_KICK_IN_RIGHT   5
#define PM_GOAL_LEFT       6
#define PM_GOAL_RIGHT      7
#define PM_GAME_OVER       8

It also contains enums used to define the following things:

• //Hinge Joints
• //Effectors
• //Team Playing Side
• //Body Components
• //INDICES for body segments
• //Play Modes
• //Directions
• //Kick Parameters
• // Number of agents on the team