worldmodel.h

uva trilearn的robocup源程序

  int           subtractOneFromGoalDiff    (                            );
  int           getNrOfCommands            ( CommandT       c           ) const;
  bool          setNrOfCommands            ( CommandT       c,
                                             int            i           );
  Time          getTimeCheckBall           (                            ) const;
  bool          setTimeCheckBall           ( Time           time        );
  BallStatusT   getCheckBallStatus         (                            ) const;
  bool          setCheckBallStatus         ( BallStatusT    bs          );

  // iterate over a specific object set
  ObjectT       iterateObjectStart         ( int            &iIndex,
                                             ObjectSetT     g,
                                             double         dConf = -1.0      );
  ObjectT       iterateObjectNext          ( int            &iIndex,
                                             ObjectSetT     g,
                                             double         dConf = -1.0      );
  void          iterateObjectDone          ( int            &iIndex           );
              
  // get and set methods for agent information
  ObjectT       getAgentObjectType         (                            ) const;
  bool          setAgentObjectType         ( ObjectT        o           );
  AngDeg        getAgentBodyAngleRelToNeck (                            ) const;
  AngDeg        getAgentGlobalNeckAngle    (                            ) const;
  AngDeg        getAgentGlobalBodyAngle    (                            );
  Stamina       getAgentStamina            (                            ) const;
  TiredNessT    getAgentTiredNess          (                            ) const;  
  double        getAgentEffort             (                            ) const;
  VecPosition   getAgentGlobalVelocity     (                            ) const;
  double        getAgentSpeed              (                            ) const;
  VecPosition   getAgentGlobalPosition     (                            ) const;
  ViewAngleT    getAgentViewAngle          (                            ) const;
  ViewQualityT  getAgentViewQuality        (                            ) const;
  double        getAgentViewFrequency      ( ViewAngleT     va = VA_ILLEGAL,
                                             ViewQualityT   vq = VQ_ILLEGAL   );
              
  // get methods for ball information
  VecPosition   getBallPos                 (                                  );
  double        getBallSpeed               (                                  );
  AngDeg        getBallDirection           (                                  );
              
  // get method for different information about a specific object
  Time          getTimeGlobalPosition      ( ObjectT        o                 );
  VecPosition   getGlobalPosition          ( ObjectT        o                 );
  Time          getTimeGlobalVelocity      ( ObjectT        o                 );
  VecPosition   getGlobalVelocity          ( ObjectT        o                 );
  double        getRelativeDistance        ( ObjectT        o                 );
  VecPosition   getRelativePosition        ( ObjectT        o                 );
  AngDeg        getRelativeAngle           ( ObjectT        o,
                                             bool           bWithBody = false );
  Time          getTimeGlobalAngles        ( ObjectT        o                 );
  AngDeg        getGlobalBodyAngle         ( ObjectT        o                 );
  AngDeg        getGlobalNeckAngle         ( ObjectT        o                 );
  AngDeg        getGlobalAngle             ( ObjectT        o                 );
  double        getConfidence              ( ObjectT        o                 );
  bool          isKnownPlayer              ( ObjectT        o                 );
  ObjectT       getOppGoalieType           (                                  );
  ObjectT       getOwnGoalieType           (                                  );
  Time          getTimeLastSeen            ( ObjectT        o                 );
  Time          getTimeChangeInformation   ( ObjectT        o                 );
               
  // set methods for objects
  bool          setIsKnownPlayer           ( ObjectT        o,
                                             bool           isKnownPlayer     );
  bool          setTimeLastSeen            ( ObjectT        o,
                                             Time           time              );

               
  // get method for information about goals
  VecPosition   getPosOpponentGoal         (                                  );
  VecPosition   getPosOwnGoal              (                                  );
  double        getRelDistanceOpponentGoal (                                  );
  AngDeg        getRelAngleOpponentGoal    (                                  );
               
               
  // get methods about fixed specifications (heterogeneous players)
  HeteroPlayerSettings getInfoHeteroPlayer ( int iIndex                       );
               
  // get method about previous commands
  bool          isQueuedActionPerformed    (                                  );
               
  // methodst hat return truth values about current play mode
  bool          isFreeKickUs               (  PlayModeT pm = PM_ILLEGAL       );
  bool          isFreeKickThem             (  PlayModeT pm = PM_ILLEGAL       );
  bool          isCornerKickUs             (  PlayModeT pm = PM_ILLEGAL       );
  bool          isCornerKickThem           (  PlayModeT pm = PM_ILLEGAL       );
  bool          isOffsideUs                (  PlayModeT pm = PM_ILLEGAL       ); 
  bool          isOffsideThem              (  PlayModeT pm = PM_ILLEGAL       ); 
  bool          isKickInUs                 (  PlayModeT pm = PM_ILLEGAL       ); 
  bool          isKickInThem               (  PlayModeT pm = PM_ILLEGAL       ); 
  bool          isFreeKickFaultUs          (  PlayModeT pm = PM_ILLEGAL       ); 
  bool          isFreeKickFaultThem        (  PlayModeT pm = PM_ILLEGAL       ); 
  bool          isKickOffUs                (  PlayModeT pm = PM_ILLEGAL       );
  bool          isKickOffThem              (  PlayModeT pm = PM_ILLEGAL       );
  bool          isBackPassUs               (  PlayModeT pm = PM_ILLEGAL       );
  bool          isBackPassThem             (  PlayModeT pm = PM_ILLEGAL       );
  bool          isGoalKickUs               (  PlayModeT pm = PM_ILLEGAL       );
  bool          isGoalKickThem             (  PlayModeT pm = PM_ILLEGAL       );
  bool          isBeforeKickOff            (  PlayModeT pm = PM_ILLEGAL       ); 
  bool          isDeadBallUs               (  PlayModeT pm = PM_ILLEGAL       ); 
  bool          isDeadBallThem             (  PlayModeT pm = PM_ILLEGAL       ); 

  ////////////////////////// UPDATE METHODS (WorldModelUpdate.C) ////////////////

  // processing new information about the objects (filling World Model).
  void          processSeeGlobalInfo       ( ObjectT        o,
                                             Time           time,
                                             VecPosition    pos,
                                             VecPosition    vel,
                                             AngDeg         angBody,
                                             AngDeg         angNeck           );
  bool          processNewAgentInfo        ( ViewQualityT   vq,
                                             ViewAngleT     va,
                                             double         dStamina,
                                             double         dEffort,
                                             double         dSpeed,
                                             AngDeg         angSpeed,
                                             AngDeg         angHeadAngle      );
 void           processNewObjectInfo       ( ObjectT        o,
                                             Time           time,
                                             double         dDist,
                                             int            iDir,
                                             double         dDistChange,
                                             double         dDirChange,
                                             AngDeg         angRelBodyAng,
                                             AngDeg         angRelNeckAng,
                                             bool           isGoalie,
                                             ObjectT        objMin,
                                             ObjectT        objMax            );
 bool           processPerfectHearInfo     ( ObjectT        o,
                                             VecPosition    pos,
                                             double         dConf,
                                             bool           bIsGoalie=0       );
 bool           processPerfectHearInfoBall ( VecPosition    pos,
                                             VecPosition    vel,
                                             double         dConf             );
 bool           processUnsureHearInfo      ( ObjectT        o,
                                             VecPosition    pos,
                                             double         dConf             );
 bool           processNewHeteroPlayer     ( int            iIndex,
                                             double         dPlayerSpeedMax,
                                             double         dStaminaIncMax,
                                             double         dPlayerDecay,
                                             double         dInertiaMoment,
                                             double         dDashPowerRate,
                                             double         dPlayerSize,
                                             double         dKickableMargin,
                                             double         dKickRand,
                                             double         dExtraStamina,
                                             double         dEffortMax,
                                             double         dEffortMin        );
  void          processCatchedBall         ( RefereeMessageT rm,
                                             Time           time              );
  void          processQueuedCommands      ( SoccerCommand  commands[],
                                             int            iCommands         );
  bool          storePlayerMessage         ( int            iPlayer, 
                                             char           *strMsg, 
                                             int            iCycle            ); 
  bool          processPlayerMessage       (                                  );                                                                                          
               
  // update methods (defined in WorldModelUpdate.C)
  bool          updateAll                  (                                  );
               
private:       
  // update with new visual information
  void          processLastSeeMessage      (                                  );
  bool          updateAfterSeeMessage      (                                  );
  bool          updateAgentObjectAfterSee  (                                  );
  bool          updateDynamicObjectAfterSee( ObjectT        o                 );
               
  // update with prediction for new cycle
  bool          updateAfterSenseMessage    (                                  );
  bool          updateAgentAndBallAfterSense(                                 );
  bool          updateBallAfterKick        ( double         dPower,
                                             AngDeg         ang               );
  bool          updateDynamicObjectForNextCycle( ObjectT    o,
                                             int            iCycle            );
  bool          updateBallForCollision     ( VecPosition    posAgent          );
               
  // update from relative to global and vice versa
  bool          updateRelativeFromGlobal   (                                  );
  bool          updateObjectRelativeFromGlobal( ObjectT     o                 );
               
  // methods to determine agent state from perceived information
  bool          calculateStateAgent        ( VecPosition    *posGlobal,
                                             VecPosition    *velGlobal,
                                             AngDeg         *angGlobal        );
  void          initParticlesAgent         ( AngDeg         angGlobal         );
  void          initParticlesAgent         ( VecPosition    posInitital       );
  int           checkParticlesAgent        ( AngDeg         angGlobalNeck     );
  void          updateParticlesAgent       ( VecPosition    vel,
                                             bool           bAfterSense       );
  VecPosition   averageParticles           ( VecPosition    posArray[],
                                             int            iLength           );
  void          resampleParticlesAgent     ( int            iLeft             );
  bool          calculateStateAgent2       ( VecPosition    *posGlobal,
                                             VecPosition    *velGlobal,
                                             AngDeg         *angGlobal        );
  VecPosition   calculatePosAgentWith2Flags( ObjectT        objFlag1,
                                             ObjectT        objFlag2          );
  AngDeg        calculateAngleAgentWithPos ( VecPosition    pos               );
               
               
  // methods to determine ball state from perceived information
  bool          calculateStateBall         ( VecPosition    *posGlobal,
                                             VecPosition    *velGlobal        );
  void          initParticlesBall         (  VecPosition    posArray[],
                                             VecPosition    velArray[],
                                             int            iLength           );
  void          checkParticlesBall        (  VecPosition    posArray[],
                                             VecPosition    velArray[],
                                             int            iLength,
                                             int            *iNrLeft          );
  void          updateParticlesBall       (  VecPosition    posArray[],
                                             VecPosition    velArray[],
                                             int            iLength,
                                             double         dPower,
                                             AngDeg         ang               );
  void          resampleParticlesBall      ( VecPosition    posArray[],
                                             VecPosition    velArray[],