walker.h

该文件是包含了机器人足球比赛中的整个系统的代码

#ifndef WAKLER_H
#define WALKER_H

#include "Dude.h"
#include "../TOOLS/Utilities.h"

class Walker : public Dude {

#define stepFreqIndex 0
#define maxForwardIndex 1
#define maxBackIndex 2
#define fshIndex 3
#define ffoIndex 4
#define fsoIndex 5
#define fhIndex 6
#define bshIndex 7
#define bfoIndex 8
#define bsoIndex 9
#define bhIndex 10

#define dataSize  11

#define HILLCLIMBING 0
#define HILLCLIMBING2 1

public:
	Walker();
  ~Walker();

	virtual void NewReadyModel();
	virtual void NewPlayingModel();

  void StartTimer();
  void EndTimer(bool);

  void ChangeParameters(bool);

  void WriteConfigFile();

  void HillClimbing(bool); // Inline
  void HillClimbing2(bool); // 1-alpha use of prevoious step

  double GaussianDistribution(double);
  double CauchyDistribution();

  struct ParameterSet {
    double data[dataSize];
    int time;
  };

private:
  bool learnType;

  int runCount;
  int unsucCount;
  Utilities utils;
  VisionObject* targetBeacon;
  bool targetGP; 
  bool inPlaying;
  bool paramLearning;
  bool locusFrontLearning;
  bool locusBackLearning;
  double multiplier;
  double maxLocusChange;

  int startFrame;
  int endFrame;

  ParameterSet currentSet;
  ParameterSet lastSet;
  ParameterSet bestSet;
  ParameterSet change;

  double **currFrontLocus;
  double **currBackLocus;
  double **bestFrontLocus;
  double **bestBackLocus;

  double alpha;
  double maxAlpha;
  bool decreaseAlpha;
  double decreaseAlphaRate;
  
  double beaconDistance;
  int beaconCount;
  double prevBeaconDistance;
  double prevWalkDistance;
};

#endif