visualsensor.h

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    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_dist_data_t
  {
  };

  struct player_high_close_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_dist_data_t
  {
  };

  struct flag_high_close_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_dist_data_t
  {
  };

  struct goal_high_close_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_dist_data_t
  {
  };

  struct player_high_tfar_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_dist_data_t,
      public VisualSensor_v6::obj_name_data_t
  {
  };

  struct ball_high_ufar_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_dist_data_t
  {
  };

  struct player_high_ufar_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_dist_data_t,
      public VisualSensor_v6::obj_name_data_t
  {
  };

  struct flag_high_ufar_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_dist_data_t,
      public VisualSensor_v6::obj_name_data_t
  {
  };

  struct goal_high_ufar_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_dist_data_t,
      public VisualSensor_v6::obj_name_data_t
  {
  };

  struct ball_high_normal_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_dist_data_t,
      public VisualSensor_v6::obj_vel_data_t
  {
  };

  struct player_high_normal_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_dist_data_t,
      public VisualSensor_v6::obj_vel_data_t,
      public VisualSensor_v6::obj_name_data_t,
      public VisualSensor_v6::obj_body_dir_data_t,
      public VisualSensor_v6::obj_head_dir_data_t
  {
  };

  struct flag_high_normal_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_dist_data_t,
      public VisualSensor_v6::obj_vel_data_t,
      public VisualSensor_v6::obj_name_data_t
  {
  };

  struct goal_high_normal_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_dist_data_t,
      public VisualSensor_v6::obj_vel_data_t,
      public VisualSensor_v6::obj_name_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_v6::range_t M_range;

    union 
    {
      VisualSensor_v6::ball_high_close_data_t M_close_data;						
      VisualSensor_v6::ball_high_normal_data_t M_normal_data;
      VisualSensor_v6::ball_high_ufar_data_t M_ufar_data;
    };

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

  struct player_high_data_t
  {
    VisualSensor_v6::range_t M_range;

    union 
    {
      VisualSensor_v6::player_high_close_data_t M_close_data;						
      VisualSensor_v6::player_high_normal_data_t M_normal_data;
      VisualSensor_v6::player_high_ufar_data_t M_ufar_data;
      VisualSensor_v6::player_high_tfar_data_t M_tfar_data;
    };

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

  struct flag_high_data_t
  {
    VisualSensor_v6::range_t M_range;

    union 
    {
      VisualSensor_v6::flag_high_close_data_t M_close_data;						
      VisualSensor_v6::flag_high_normal_data_t M_normal_data;
      VisualSensor_v6::flag_high_ufar_data_t M_ufar_data;
    };

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

  struct goal_high_data_t
  {
    VisualSensor_v6::range_t M_range;

    union 
    {
      VisualSensor_v6::goal_high_close_data_t M_close_data;						
      VisualSensor_v6::goal_high_normal_data_t M_normal_data;
      VisualSensor_v6::goal_high_ufar_data_t M_ufar_data;
    };

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

  struct line_high_data_t
  {
    VisualSensor_v6::range_t M_range;

    VisualSensor_v6::line_high_normal_data_t M_normal_data;

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

    bool
    operator<( const line_high_data_t& data ) const
    {
      return M_normal_data < data.M_normal_data;
    }
  };


  struct low_data_t
  {
    int M_time;

    std::list< VisualSensor_v6::goal_low_data_t > M_goals;
    std::list< VisualSensor_v6::flag_low_data_t > M_flags;
    std::list< VisualSensor_v6::ball_low_data_t > M_balls;
    std::list< VisualSensor_v6::player_low_data_t > M_players;
    std::list< VisualSensor_v6::line_low_data_t > M_lines;

    void set ( const Stadium& stadium, const Player& player );
  };

  struct high_data_t
  {
    int M_time;

    std::list< VisualSensor_v6::goal_high_data_t > M_goals;
    std::list< VisualSensor_v6::flag_high_data_t > M_flags;
    std::list< VisualSensor_v6::player_high_data_t > M_players;
    std::list< VisualSensor_v6::ball_high_data_t > M_balls;
    std::list< VisualSensor_v6::line_high_data_t > M_lines;

    void set ( const Stadium& stadium, const Player& player );
  };

  virtual void send ( const VisualSensor_v6::low_data_t& data ) = 0;
  virtual void send ( const VisualSensor_v6::high_data_t& data ) = 0;
};

std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::ball_low_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::ball_low_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::ball_low_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::player_low_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::player_low_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::player_low_ufar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::player_low_tfar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::player_low_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::flag_low_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::flag_low_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::flag_low_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::goal_low_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::goal_low_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::goal_low_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::line_low_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::line_low_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::ball_high_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::ball_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::ball_high_ufar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::ball_high_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::player_high_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::player_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::player_high_ufar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::player_high_tfar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::player_high_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::flag_high_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::flag_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::flag_high_ufar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::flag_high_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::goal_high_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::goal_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::goal_high_ufar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::goal_high_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::line_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::line_high_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::low_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v6::high_data_t& data );

//===================================================================
//
//  CLASS: VisualSensor_v7
//
//  DESC: Class for the version 7 visual protocol.  This version
//        fixed a bug in the generation of directions in that they
//        were truncated to int, rather than rounded.  This meant
//        error in the direction pointed was at most times between
//        -0.5 and +0.5 degrees, but occationally between -1.0 and
//        +1.0 degrees and at other times exact.  With the new mehtod
//        of rounding, the error is allways between -0.5 and +0.5.
//
//===================================================================

class VisualSensor_v7
  : public VisualSensor_v6
{
public:
  struct obj_dir_data_t
    : public VisualSensor_v6::obj_dir_data_t
  {
    static int calcDegDir ( const double& rad );
    static int calcDir ( const PObject& obj, const Player& player );
    static int calcLineDegDir ( const double& sight_2_line_ang );
  };

  struct obj_body_dir_data_t
    : public VisualSensor_v6::obj_body_dir_data_t
  {
    static int calcBodyDir ( const Player& observed_player, const Player& player );
  };
		
  struct obj_head_dir_data_t
    : public VisualSensor_v6::obj_head_dir_data_t
  {
    static int calcHeadDir ( const Player& observed_player, const Player& player );
  };

  struct ball_low_close_data_t
    : public VisualSensor_v7::obj_dir_data_t
  {
  };

  struct player_low_close_data_t
    : public VisualSensor_v7::obj_dir_data_t
  {
  };

  struct flag_low_close_data_t
    : public VisualSensor_v7::obj_dir_data_t
  {
  };

  struct goal_low_close_data_t
    : public VisualSensor_v7::obj_dir_data_t
  {
  };

  struct ball_low_normal_data_t
    : public VisualSensor_v7::obj_dir_data_t
  {
  };

  struct player_low_tfar_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_name_data_t
  {
  };

  struct player_low_ufar_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_name_data_t
  {
  };

  struct player_low_normal_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_name_data_t
  {
  };

  struct flag_low_normal_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_name_data_t			
  {
  };

  struct goal_low_normal_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_name_data_t			
  {
  };

  struct line_low_normal_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_name_data_t			
  {
  };

  struct ball_low_data_t
  {
    VisualSensor_v7::range_t M_range;

    union 
    {
      VisualSensor_v7::ball_low_close_data_t M_close_data;						
      VisualSensor_v7::ball_low_normal_data_t M_normal_data;
    };

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

  struct player_low_data_t
  {
    VisualSensor_v7::range_t M_range;

    union 
    {
      VisualSensor_v7::player_low_close_data_t M_close_data;						
      VisualSensor_v7::player_low_normal_data_t M_normal_data;
      VisualSensor_v7::player_low_ufar_data_t M_ufar_data;
      VisualSensor_v7::player_low_tfar_data_t M_tfar_data;
    };

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


  struct flag_low_data_t
  {
    VisualSensor_v7::range_t M_range;

    union 
    {
      VisualSensor_v7::flag_low_close_data_t M_close_data;						
      VisualSensor_v7::flag_low_normal_data_t M_normal_data;
    };

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

  struct goal_low_data_t
  {
    VisualSensor_v7::range_t M_range;

    union 
    {
      VisualSensor_v7::goal_low_close_data_t M_close_data;						
      VisualSensor_v7::goal_low_normal_data_t M_normal_data;
    };