bodysensor.cc

在LINUX下运行的仿真机器人服务器源代码

// -*-c++-*-

/***************************************************************************
                          bodysensor.cc  -  A class for storing the data from
			                    the players body sensor
                             -------------------
    begin                : 25-NOV-2001
    copyright            : (C) 2001 by The RoboCup Soccer Server 
                           Maintainance Group.
    email                : [e-mail]
 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU LGPL as published by the Free Software  *
 *   Foundation; either version 2 of the License, or (at your option) any  *
 *   later version.                                                        *
 *                                                                         *
 ***************************************************************************/

#include "bodysensor.h"
#include "player.h"
#include "field.h"

const std::string QUALITY_NAMES[] = { "low", "high", "null" };
const std::string WIDTH_NAMES[] = { "narrow", "normal", "wide", "null" };

std::ostream& operator<< ( std::ostream& o, const BodySensor::quality_t quality )
{
  return o << QUALITY_NAMES [ quality ];
}

std::ostream& operator<< ( std::ostream& o, const BodySensor::width_t width )
{
  return o << WIDTH_NAMES [ width ];
}

BodySensor_v1::data_t::data_t ( const Player& player )
		: M_time ( player.stadium->time ),
		  M_quality ( player.highquality 
									? BodySensor::Q_HIGH 
									: BodySensor::Q_LOW ),
			M_width ( player.vis_angle == player.defangle/2 
								? BodySensor::W_NARROW
								: ( player.vis_angle == player.defangle*2
										? BodySensor::W_WIDE
										: BodySensor::W_NORMAL ) ),
			M_stamina ( player.stamina ),
			M_effort ( player.effort ),
			M_vel_mag ( Quantize ( player.vel.r(), 0.01) ),
			M_count_kick ( player.count_kick ),
			M_count_dash ( player.count_dash ),
			M_count_turn ( player.count_turn ),
			M_count_say ( player.count_say )
{
}


BodySensor_v5::data_t::data_t ( const Player& player )
		: BodySensor_v1::data_t ( player ),
			M_head_angle ( Rad2IDeg ( player.angle_neck_committed ) ),
      M_count_turn_neck ( player.count_turn_neck )
{
}


BodySensor_v6::data_t::data_t ( const Player& player )
		: BodySensor_v5::data_t ( player ),
			M_vel_head ( Rad2IDeg ( normalize_angle ( player.vel.th() 
																								- player.angle_body 
																								- player.angle_neck_committed ) ) )
{
}


BodySensor_v7::data_t::data_t ( const Player& player )
		: BodySensor_v6::data_t ( player ),
			M_count_catch ( player.count_catch ),
      M_count_move ( player.count_move ),
      M_count_change_view ( player.count_change_view )	  
{
}

BodySensor_v8::data_t::data_t ( const Player& player )
  : BodySensor_v7::data_t ( player ),
    M_arm_state( player.getArm().getState( rcss::geom::Vector2D( player.pos.x,
                                                                 player.pos.y ),
                                           player.angle_body 
                                           + player.angle_neck_committed ) ),
                   M_tackle_cycles_remaining( player.getTackleCycles() ),
                   M_tackle_count( player.getTackleCount() ),
                   M_focus_target( player.getFocusTarget() ),
                   M_focus_count( player.getFocusCount() )
{
}