object.h

mersad源码 03年robocup 季军 可以研究一下大家

/*
 *  Copyright 2002-2004, Mersad Team, Allame Helli High School (NODET).
 *
 *  This program is free software, you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation.
 *
 *  This program 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 Library General Public License for more details.
 *
 *  Created by: Ahmad Boorghany
 *  Released on Friday 1 April 2005 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#ifndef __OBJECT_H
#define __OBJECT_H


#include <Vector.h>
#include <FieldData.h>


#ifndef NULL
#	define NULL 0
#endif // NULL

#define MAX_POS_DEV 20
#define MAX_VEL_DEV 5


class ConfigGroup;
class SExpression;
typedef ConfigGroup Param;


class Object
{
protected:
	bool readyToUpdateFlag;
	float posDeviation;
	float validPosDeviation;
	float velDeviation;
	float seeDistance;
	float seeDirection;
	float seeDistChange;
	float seeDirChange;
	unsigned seeTime;
	unsigned velSeeTime;

	Vector position;
	Vector velocity;
	Vector absVector;
	Vector bodyVector;
	Vector headVector;

	// Local serverparams for Updates and Simulates
	float accelMax;
	float decay;
	float rand;
	float size;
	float speedMax;
	float maxMoment;
	float minMoment;
	float maxPower;
	float minPower;
	float quantizeStep;
	float quantizeStepL;

public:
	Object();
	virtual ~Object();

	void setServerParamVars(const Param &serverParam);
	void parse(const SExpression &exp, unsigned curTime);

	float getDistance(const Object &obj) const;
	float getDistance(const Point &point) const;

	void kill();
	bool isValid() const;

	// Getting functions
	bool isReadyToUpdate() const;
	float getPosDeviation() const;
	float getValidPosDeviation() const;
	float getVelDeviation() const;
	float getSeeDistance() const;
	float getSeeDirection() const;
	float getSeeDistChange() const;
	float getSeeDirChange() const;
	unsigned getSeeTime() const;
	unsigned getVelSeeTime() const;

	float getAccelMax() const;
	float getDecay() const;
	float getRand() const;
	float getSize() const;
	float getSpeedMax() const;
	float getMaxMoment() const;
	float getMinMoment() const;
	float getMaxPower() const;
	float getMinPower() const;
	float getQuantizeStep() const;
	float getQuantizeStepL() const;

	const Vector &getPos() const;
	const Vector &getVel() const;
	const Vector &getAbsVec() const;
	const Vector &getBodyVec() const;
	const Vector &getHeadVec() const;

	// Setting functions
	void setReadyToUpdate(bool readyToUpdateFlagArg);
	void setPosDeviation(float posDeviationArg);
	void setValidPosDeviation(float posDeviationArg);
	void setVelDeviation(float velDeviationArg);
	void setSeeDistance(float seeDistanceArg);
	void setSeeDirection(float seeDirectionArg);
	void setSeeDistChange(float seeDistChangeArg);
	void setSeeDirChange(float seeDirChangeArg);
	void setSeeTime(unsigned seeTimeArg);
	void setVelSeeTime(unsigned velSeeTimeArg);

	void setDecay(float decayArg);

	Vector &setPos();
	Vector &setVel();
	Vector &setAbsVec();
	Vector &setBodyVec();
	Vector &setHeadVec();
};

class FieldFlag: public Object
{
protected:
	int id;

public:
	void update(const FieldData &fieldData);
	void parse(int idArg, const SExpression &exp, unsigned curTime);

	int getId() const;
};

class FieldLine: public Object
{
protected:
	int id;
	float prependOrient;

public:
	void update(const FieldData &fieldData);
	void parse(int idArg, const SExpression &exp, unsigned curTime);

	int getId() const;
	float getPrependOrient() const;
};

class FieldGoal: public Object
{
protected:
	int id;

public:
	void update(const FieldData &fieldData);
	void parse(int idArg, const SExpression &exp, unsigned curTime);
	void parseFullState(int idArg, const SExpression &exp, unsigned curTime);

	int getId() const;
};

#endif // __OBJECT_H