body.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 __BODY_H
#define __BODY_H


#include <Player.h>
#include <Types.h>


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

#define UNUM_FAR_LENGTH 20.00
#define UNUM_TOO_FAR_LENGTH 40.00
#define TEAM_FAR_LENGTH 40.00
#define TEAM_TOO_FAR_LENGTH 60.00


class Command;
class SExpression;


class Body: public Player
{
protected:
	float viewAngle;
	TriAnswer collisionStatus;

	// SenseBody items except stamina from Player
	float effort; 
	float speedAmount;
	float speedDir;
	float armTargetDist;
	float armTargetDir;
	unsigned kickCount;
	unsigned dashCount;
	unsigned turnCount;
	unsigned sayCount;
	unsigned turnNeckCount;
	unsigned catchCount;
	unsigned moveCount;
	unsigned senseBodyCycle;
	unsigned changeViewCount;
	unsigned armMovable;
	unsigned armExpires;
	unsigned armCount;
	unsigned tackleExpires;
	unsigned tackleCount;
	unsigned focusTargetUniNum;
	unsigned focusCount;
	TeamId focusTargetTeamId;
	ViewModeWidth vmWidth;
	ViewModeQuality vmQuality;

	// Last counts
	unsigned lastKickCount;
	unsigned lastDashCount;
	unsigned lastTurnCount;
	unsigned lastSayCount;
	unsigned lastTurnNeckCount;
	unsigned lastCatchCount;
	unsigned lastMoveCount;
	unsigned lastChangeViewCount;
	unsigned lastArmExpires;
	unsigned lastArmCount;
	unsigned lastFocusCount;
	unsigned lastTackleExpires;
	unsigned lastTackleCount;

	// Local serverparam variables
	float visibleDistance;

public:
	Body();

	void simulateByDynamics(bool realBody = false);
	void simulateByAction(const Command *bodyCycleCommand,
			bool realBody = false);
	void completeParseSenseBody();
	void parseSenseBody(const SExpression &exp, Side OurFieldSide);
	void update(FieldFlag **flags, FieldGoal **goals, FieldLine **lines,
			unsigned flagsNum, unsigned goalsNum, unsigned linesNum);

	virtual void setServerParamVars(const Param &serverParam);

	float viewWidthToViewAngle(ViewModeWidth width) const;

	// Counting functions
	bool isKickCountChanged() const;
	bool isDashCountChanged() const;
	bool isTurnCountChanged() const;
	bool isSayCountChanged() const;
	bool isTurnNeckCountChanged() const;
	bool isCatchCountChanged() const;
	bool isMoveCountChanged() const;
	bool isChangeViewCountChanged() const;
	bool isArmExpiresChanged() const;
	bool isArmCountChanged() const;
	bool isFocusCountChanged() const;
	bool isTackleExpiresChanged() const;
	bool isTackleCountChanged() const;

	// Getting functions
	float getViewAngle() const;
	TriAnswer getCollisionStatus() const;

	float getEffort() const;
	float getSpeedAmount() const;
	float getSpeedDir() const;
	float getArmTargetDist() const;
	float getArmTargetDir() const;
	unsigned getKickCount() const;
	unsigned getDashCount() const;
	unsigned getTurnCount() const;
	unsigned getSayCount() const;
	unsigned getTurnNeckCount() const;
	unsigned getCatchCount() const;
	unsigned getMoveCount() const;
	unsigned getSenseBodyCycle() const;
	unsigned getChangeViewCount() const;
	unsigned getArmMovable() const;
	unsigned getArmExpires() const;
	unsigned getArmCount() const;
	unsigned getTackleExpires() const;
	unsigned getTackleCount() const;
	unsigned getFocusTargetUniNum() const;
	unsigned getFocusCount() const;
	TeamId getFocusTargetTeamId() const;
	ViewModeWidth getVMWidth() const;
	ViewModeQuality getVMQuality() const;

	float getVisibleDistance() const;

	// Setting functions
	void setViewAngle(float viewAngleArg);
	void setCollisionStatus(TriAnswer collisionStatusArg);
};

#endif // __BODY_H