visualsystem.h

RoboCup仿真组世界冠军源代码

/*
    Copyright (C) 2001  Tsinghuaeolus

    Authors : ChenJiang, YaoJinyi, CaiYunpeng, Lishi

    This library 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 2.1 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.

	If you make any changes or have any comments we would appreciate a 
	message to [e-mail].
*/

#ifndef _visualsystem
#define _visualsystem
#include "bpn.h"
#include "types.h"
#include "Command.h"
#include "Strategy.h"

#include "mediator.h"

class MobileObject;
class Player;

class VisualObject{
private:
	VisualObjType Objecttype;
	union{
		UNum Idx;
		AngleDeg requestangle;
	};	
	float strategy_interest;
	float urgency;
	float priority;
public:
	VisualObjType ObjectType(){return Objecttype;}
	UNum Index(){return Idx;}
	AngleDeg ReqestAngle(){return requestangle;}
	float Urgency(){return urgency;}
	float Strategy_Interest(){return strategy_interest;}
	float Priority(){return priority;};
	VisualObject() {Objecttype = VO_none;priority = 0;}
	void SetValue(VisualObjType otype, AngleDeg angle, float priority);
	void SetValue(VisualObjType type,int Idx,AngleDeg ang,float urgency,float strategy_interest = 0);
	void SetPriority(float priority);
	bool operator >(VisualObject& vobj){ return  (Objecttype > vobj.ObjectType())||(Objecttype == vobj.ObjectType())&&(Idx > vobj.Index());}
	bool operator ==(VisualObject& vobj){ return (Objecttype == vobj.ObjectType() && Idx== vobj.Index() && Objecttype != VO_route);}
	bool operator < (VisualObject& vobj){ return (Objecttype < vobj.ObjectType())||(Objecttype == vobj.ObjectType())&&(Idx < vobj.Index());}
};


class VisualSystem{
private:
/*********  direction confidence   *******************/
	int num_my_visible_players;
	int num_their_visible_players;
	int num_visible_players;

	AngleDeg StrategyRequestAngle[3];
	float priorityfactor[3];
	
	UNum lastITplayer;
	int lastITcycles;
	float ITconfirmagl;
	bool ITconfirm;
	int b_validt;

	PrioredCommand bestaction;
	Vector nextselfpos;

	inline bool Isballbyfeel();
	inline bool Isobjconfmax(MobileObject& obj);

	float LookTeammatePriority(Player& player);
	float LookOppPriority(Player& player);
	float DefLookOppPry(Player& player);
	float GetPriority(float concern, float conf);
	
	void StrategyLook(AngleDeg motionangle,float strategypriority);
	void AssureBall(float priority);
	
	void Raiseplayer(Player& p, float priority);
	void Raise(VisualObjType otype, AngleDeg angle, float priority);
	void Raise(VisualObjType otype, AngleDeg angle, AngleDeg distribute, float priority);
	void Findforgetobj(VisualObjType otype, AngleDeg angle, AngleDeg distribute, float maxpriority);

	void DoViewModeDecision(bool forcenarrow = false);
public:
	VisualSystem();

	void DoVisualDecision();

/*********  world status preprocess  ******************/
	inline int Num_MyVisiblePlayers(){ return num_my_visible_players; }
	inline int Num_TheirVisiblePlayers(){ return num_their_visible_players; }
	inline int Num_VisiblePlayers(){ return num_visible_players;}
	UNum MyVisiblePlayers[CP_max_visible_players];
	UNum TheirVisiblePlayers[CP_max_visible_players];	

	UNum MyPlayers_Close2Ball[CP_max_visible_players]; // sorted by the distance between players and the ball
	UNum TheirPlayers_Close2Ball[CP_max_visible_players]; // sorted by the distance between players and the ball
	UNum Players_Close2Ball[2 * CP_max_visible_players];
	 Player& MyPlayer_Close2Ball(int idx);
	 Player& TheirPlayer_Close2Ball(int idx);
	 Player& GetPlayer_Close2Ball(int idx);
	
	UNum MyPlayers_Close2Me[CP_max_visible_players]; // sorted by the distance between players and me
	UNum TheirPlayers_Close2Me[CP_max_visible_players]; // sorted by the distance between players and me
	UNum Players_Close2Me[2 * CP_max_visible_players];
	 Player& MyPlayer_Close2Me(int idx);
	 Player& TheirPlayer_Close2Me(int idx);
	 Player& GetPlayer_Close2Me(int idx);

	UNum MyPlayers_InFront[CP_max_visible_players];
	UNum MyPlayers_InBehind[CP_max_visible_players];
	UNum TheirPlayers_InFront[CP_max_visible_players];
	UNum TheirPlayers_InBehind[CP_max_visible_players];
	UNum TheirPlayers_Danger[CP_max_visible_players]; 
	 Player& MyPlayer_InFront(int idx);
	 Player& MyPlayer_InBehind(int idx);
	 Player& TheirPlayer_InBehind(int idx);
	 Player& TheirPlayer_InFront(int idx);
/********************************************************/	
	bool Vinfo_coming;
	float Vcominginfo_angle;
	float Vcominginfo_width;
/********************************************************/
	void Updatebvalidt();
	void UpdateMinITcycles();

	int DirValidateball(int maxcycles);
	void SetArounds();
	void SetBallInf();
	void PredicInfComing();
	void GetActionInf();
/******************************************************************************/
	float GetPromisingAngle(VisualObjType obj, UNum idx = 0);
	inline float Predictconf(float ang);
	inline bool Predictseen(float ang);
	bool FindBall();
	
	void DoSeek(float maxpriority, AngleDeg recommendedangle = 0);
	void DoExtendITLook(float maxpriority);
	void DoPassLook(float maxpriority);
	void DoDefendLook(float maxpriority);
	void DoGoalieLook(float maxpriority);
	void DoOffsideLook(float maxpriority);
};
#endif