visualsensor.h

在LINUX下运行的仿真机器人服务器源代码

// -*-c++-*-

/***************************************************************************
                               visualsensor.h
    A class for storing the data from the players visual 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.                                                        *
 *                                                                         *
 ***************************************************************************/


#ifndef _VISUALSENSOR_H_
#define _VISUALSENSOR_H_


// Arrrgggghh....  I've created a monster.  Will reimplement as part of the
// serializers later.

class PObject;
class MPObject;
class Player;
class Stadium;

#include <iostream>
#include <list>

//===================================================================
//
//  CLASS: VisualSensor
//
//  DESC: Base class for the visual protocol.
//
//===================================================================

class VisualSensor
{
public:
  enum quality_t
  {
    LOW,
    HIGH
  };

  enum range_t
  {
    CLOSE,
    NORMAL,
    UFAR,
    TFAR,
    NORMAL_POINTING,
    UFAR_POINTING,
    OUT
  };
};


//===================================================================
//
//  CLASS: VisualSensor_v1
//
//  DESC: Class for the version 1 visual protocol.  This version is
//        completly unused as far as I am aware of, but it is here
//        none the less, just in case there is someone somewhere
//        still using it. 
//
//===================================================================


class VisualSensor_v1
  : public VisualSensor
{
public:
  struct obj_dir_data_t
  {
    int M_direction;

    static double calcRadDir ( const PObject& obj, const Player& player );
    static int calcDegDir ( const double& rad );
    static int calcDir ( const PObject& obj, const Player& player );
    static double calcLineRadDir ( const PObject& obj, const Player& player, const double& line_normal );
    static int calcLineDegDir ( const double& sight_2_line_ang );
  };

  struct ball_low_close_data_t
    : public VisualSensor_v1::obj_dir_data_t
  {
  };

  struct player_low_close_data_t
    : public VisualSensor_v1::obj_dir_data_t
  {
  };

  struct flag_low_close_data_t
    : public VisualSensor_v1::obj_dir_data_t
  {
  };

  struct goal_low_close_data_t
    : public VisualSensor_v1::obj_dir_data_t
  {
  };

  struct ball_low_normal_data_t
    : public VisualSensor_v1::obj_dir_data_t
  {
  };

  struct obj_name_data_t
  {
    const char* M_name;

    static const char* calcName ( const PObject& obj );
    static const char* calcUFarName ( const Player& obj );
    static const char* calcTFarName ( const Player& obj );
  };

  struct player_low_normal_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_name_data_t
  {
  };

  struct flag_low_normal_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_name_data_t
  {
  };

  struct goal_low_normal_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_name_data_t
  {
  };

  struct line_low_normal_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_name_data_t
  {
  };

  struct player_low_ufar_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_name_data_t
  {
  };

  struct player_low_tfar_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_name_data_t
  {
  };

  struct ball_low_data_t
  {
    VisualSensor_v1::range_t M_range;

    union 
    {
      VisualSensor_v1::ball_low_close_data_t M_close_data;						
      VisualSensor_v1::ball_low_normal_data_t M_normal_data;
    };

    void set ( const PObject& ball, const Player& player );
  };

  struct player_low_data_t
  {
    VisualSensor_v1::range_t M_range;

    union 
    {
      VisualSensor_v1::player_low_close_data_t M_close_data;						
      VisualSensor_v1::player_low_normal_data_t M_normal_data;
      VisualSensor_v1::player_low_ufar_data_t M_ufar_data;						
      VisualSensor_v1::player_low_tfar_data_t M_tfar_data;
    };

    void set ( const Player& observed_player, const Player& player );
  };

  struct flag_low_data_t
  {
    VisualSensor_v1::range_t M_range;

    union 
    {
      VisualSensor_v1::flag_low_close_data_t M_close_data;						
      VisualSensor_v1::flag_low_normal_data_t M_normal_data;
    };

    void set ( const PObject& flag, const Player& player );
  };

  struct goal_low_data_t
  {
    VisualSensor_v1::range_t M_range;

    union 
    {
      VisualSensor_v1::goal_low_close_data_t M_close_data;						
      VisualSensor_v1::goal_low_normal_data_t M_normal_data;
    };

    void set ( const PObject& goal, const Player& player );
  };

  struct line_low_data_t
  {
    VisualSensor_v1::range_t M_range;

    VisualSensor_v1::line_low_normal_data_t M_normal_data;

    void set ( const PObject& line, const Player& player );
  };

  struct obj_dist_data_t
  {
    double M_distance;

    static double calcUnQuantDist ( const PObject& obj, const Player& player );
    static double calcQuantDist ( const double& dist, const double& qstep );
    static double calcDist ( const PObject& obj, const Player& player, const double& qstep );
    static double calcLineDist ( const double& sight_2_line_ang, 
                                 const double& player_2_line,
                                 const double& qstep );

    bool
    operator<( const obj_dist_data_t& data ) const
    {
      return M_distance < data.M_distance;
    }

  };

  struct ball_high_close_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_dist_data_t												
  {
  };

  struct player_high_close_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_dist_data_t												
  {
  };

  struct flag_high_close_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_dist_data_t
  {
  };

  struct goal_high_close_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_dist_data_t
  {
  };

  struct player_high_tfar_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_dist_data_t,
      public VisualSensor_v1::obj_name_data_t
  {
  };

  struct ball_high_ufar_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_dist_data_t
  {
  };

  struct player_high_ufar_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_dist_data_t,
      public VisualSensor_v1::obj_name_data_t
  {
  };

  struct flag_high_ufar_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_dist_data_t,
      public VisualSensor_v1::obj_name_data_t
  {
  };

  struct goal_high_ufar_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_dist_data_t,
      public VisualSensor_v1::obj_name_data_t
  {
  };

  struct obj_vel_data_t
  {
    struct vel_t
    {
      double M_dist_chg;
      double M_dir_chg;
    };
				
    VisualSensor_v1::obj_vel_data_t::vel_t M_vel;

    static VisualSensor_v1::obj_vel_data_t::vel_t 
    calcVel ( const MPObject& obj, 
              const Player& player,
              const double& un_quant_dist,
              const double& quant_dist );
				
    static VisualSensor_v1::obj_vel_data_t::vel_t 
    calcVel ( const PObject& obj,
              const Player& player,
              const double& un_quant_dist, 
              const double& quant_dist );
  };

  struct ball_high_normal_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_dist_data_t,
      public VisualSensor_v1::obj_vel_data_t
  {
  };

  struct player_high_normal_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_dist_data_t,
      public VisualSensor_v1::obj_vel_data_t,
      public VisualSensor_v1::obj_name_data_t
  {
  };

  struct flag_high_normal_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_dist_data_t,
      public VisualSensor_v1::obj_name_data_t,																	
      public VisualSensor_v1::obj_vel_data_t
  {
  };

  struct goal_high_normal_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_dist_data_t,
      public VisualSensor_v1::obj_name_data_t,																	
      public VisualSensor_v1::obj_vel_data_t
  {
  };

  struct line_high_normal_data_t
    : public VisualSensor_v1::obj_dir_data_t,
      public VisualSensor_v1::obj_dist_data_t,
      public VisualSensor_v1::obj_name_data_t
  {
  };

  struct ball_high_data_t
  {
    VisualSensor_v1::range_t M_range;

    union 
    {
      VisualSensor_v1::ball_high_close_data_t M_close_data;						
      VisualSensor_v1::ball_high_normal_data_t M_normal_data;
      VisualSensor_v1::ball_high_ufar_data_t M_ufar_data;
    };

    void set ( const MPObject& ball, const Player& player );
  };

  struct player_high_data_t
  {
    VisualSensor_v1::range_t M_range;

    union 
    {
      VisualSensor_v1::player_high_close_data_t M_close_data;						
      VisualSensor_v1::player_high_normal_data_t M_normal_data;
      VisualSensor_v1::player_high_ufar_data_t M_ufar_data;
      VisualSensor_v1::player_high_tfar_data_t M_tfar_data;
    };

    void set ( const Player& observered, const Player& player );
  };

  struct flag_high_data_t
  {
    VisualSensor_v1::range_t M_range;