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<?php
class foobar_shortcode {
  static $add_script;
  static function init () {
      add_shortcode('foobar', array(__CLASS__, 'foobar_func'));
      add_action('init', array(__CLASS__, 'register_script'));
      add_action('wp_footer', array(__CLASS__, 'print_script'));
  }
  static function foobar_func( $atts ) {
      self::$add_script = true; 
      return "foo and bar";
  }
  static function register_script() {
      wp_register_script( 'foo-js', get_template_directory_uri() . '/includes/js/foo.js');
  }
 
  static function print_script () {
      if ( !self::$add_script ) return;
      wp_print_scripts('foo-js');
  }
}
foobar_shortcode::init();