visualsensor.h

在LINUX下运行的仿真机器人服务器源代码

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

  struct line_low_data_t
  {
    VisualSensor_v7::range_t M_range;

    VisualSensor_v7::line_low_normal_data_t M_normal_data;

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

  struct ball_high_close_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_dist_data_t
  {
  };

  struct player_high_close_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_dist_data_t
  {
  };

  struct flag_high_close_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_dist_data_t
  {
  };

  struct goal_high_close_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_dist_data_t
  {
  };

  struct player_high_tfar_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_dist_data_t,
      public VisualSensor_v7::obj_name_data_t
  {
  };

  struct ball_high_ufar_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_dist_data_t
  {
  };

  struct player_high_ufar_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_dist_data_t,
      public VisualSensor_v7::obj_name_data_t
  {
  };

  struct flag_high_ufar_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_dist_data_t,
      public VisualSensor_v7::obj_name_data_t
  {
  };

  struct goal_high_ufar_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_dist_data_t,
      public VisualSensor_v7::obj_name_data_t
  {
  };

  struct ball_high_normal_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_dist_data_t,
      public VisualSensor_v7::obj_vel_data_t
  {
  };

  struct player_high_normal_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_dist_data_t,
      public VisualSensor_v7::obj_vel_data_t,
      public VisualSensor_v7::obj_name_data_t,
      public VisualSensor_v7::obj_body_dir_data_t,
      public VisualSensor_v7::obj_head_dir_data_t
  {
  };

  struct flag_high_normal_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_dist_data_t,
      public VisualSensor_v7::obj_vel_data_t,
      public VisualSensor_v7::obj_name_data_t
  {
  };

  struct goal_high_normal_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_dist_data_t,
      public VisualSensor_v7::obj_vel_data_t,
      public VisualSensor_v7::obj_name_data_t
  {
  };

  struct line_high_normal_data_t
    : public VisualSensor_v7::obj_dir_data_t,
      public VisualSensor_v7::obj_dist_data_t,
      public VisualSensor_v7::obj_name_data_t
  {
  };

  struct ball_high_data_t
  {
    VisualSensor_v7::range_t M_range;

    union 
    {
      VisualSensor_v7::ball_high_close_data_t M_close_data;						
      VisualSensor_v7::ball_high_normal_data_t M_normal_data;
      VisualSensor_v7::ball_high_ufar_data_t M_ufar_data;
    };

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

  struct player_high_data_t
  {
    VisualSensor_v7::range_t M_range;

    union 
    {
      VisualSensor_v7::player_high_close_data_t M_close_data;						
      VisualSensor_v7::player_high_normal_data_t M_normal_data;
      VisualSensor_v7::player_high_ufar_data_t M_ufar_data;
      VisualSensor_v7::player_high_tfar_data_t M_tfar_data;
    };

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


  struct flag_high_data_t
  {
    VisualSensor_v7::range_t M_range;

    union 
    {
      VisualSensor_v7::flag_high_close_data_t M_close_data;						
      VisualSensor_v7::flag_high_normal_data_t M_normal_data;
      VisualSensor_v7::flag_high_ufar_data_t M_ufar_data;
    };

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

  struct goal_high_data_t
  {
    VisualSensor_v7::range_t M_range;

    union 
    {
      VisualSensor_v7::goal_high_close_data_t M_close_data;						
      VisualSensor_v7::goal_high_normal_data_t M_normal_data;
      VisualSensor_v7::goal_high_ufar_data_t M_ufar_data;
    };

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

  struct line_high_data_t
  {
    VisualSensor_v7::range_t M_range;

    VisualSensor_v7::line_high_normal_data_t M_normal_data;

    void set ( const PObject& goal, 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_v7::goal_low_data_t > M_goals;
    std::list< VisualSensor_v7::flag_low_data_t > M_flags;
    std::list< VisualSensor_v7::ball_low_data_t > M_balls;
    std::list< VisualSensor_v7::player_low_data_t > M_players;
    std::list< VisualSensor_v7::line_low_data_t > M_lines;

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

  struct high_data_t
  {
    int M_time;

    std::list< VisualSensor_v7::goal_high_data_t > M_goals;
    std::list< VisualSensor_v7::flag_high_data_t > M_flags;
    std::list< VisualSensor_v7::ball_high_data_t > M_balls;
    std::list< VisualSensor_v7::player_high_data_t > M_players;
    std::list< VisualSensor_v7::line_high_data_t > M_lines;

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

  virtual void send ( const VisualSensor_v7::low_data_t& data ) = 0;
  virtual void send ( const VisualSensor_v7::high_data_t& data ) = 0;
};

std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::ball_low_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::ball_low_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::ball_low_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::player_low_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::player_low_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::player_low_ufar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::player_low_tfar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::player_low_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::flag_low_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::flag_low_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::flag_low_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::goal_low_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::goal_low_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::goal_low_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::line_low_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::line_low_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::ball_high_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::ball_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::ball_high_ufar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::ball_high_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::player_high_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::player_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::player_high_ufar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::player_high_tfar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::player_high_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::flag_high_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::flag_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::flag_high_ufar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::flag_high_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::goal_high_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::goal_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::goal_high_ufar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::goal_high_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::line_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::line_high_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::low_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v7::high_data_t& data );


//===================================================================
//
//  CLASS: VisualSensor_v8
//
//  DESC: Class for the version 8 visual protocol.  This version
//        allows players to see where the new arm actuator is
//        pointing to.
//
//===================================================================

class VisualSensor_v8
  : public VisualSensor_v7
{
public:
  struct obj_pointto_data_t
  {
    int M_pointto_dir;

    static 
    int 
    calcPointDir( const Player& has_arm,
                  const Player& observer );
  };

  struct obj_tackle_data_t
  {
    bool M_tackling;

    static
    bool
    calcTackling( const Player& tackler );
  };

  struct player_high_ufar_data_t
    : public VisualSensor_v8::obj_dir_data_t,
      public VisualSensor_v8::obj_dist_data_t,
      public VisualSensor_v8::obj_name_data_t,
      public VisualSensor_v8::obj_tackle_data_t
  {
  };

  struct player_high_ufar_pointing_data_t
    : public VisualSensor_v8::obj_dir_data_t,
      public VisualSensor_v8::obj_dist_data_t,
      public VisualSensor_v8::obj_name_data_t,
      public VisualSensor_v8::obj_pointto_data_t,
      public VisualSensor_v8::obj_tackle_data_t
  {    
  };

  struct player_high_normal_data_t
    : public VisualSensor_v8::obj_dir_data_t,
      public VisualSensor_v8::obj_dist_data_t,
      public VisualSensor_v8::obj_vel_data_t,
      public VisualSensor_v8::obj_name_data_t,
      public VisualSensor_v8::obj_body_dir_data_t,
      public VisualSensor_v8::obj_head_dir_data_t,
      public VisualSensor_v8::obj_tackle_data_t
  {
  };

  struct player_high_normal_pointing_data_t
    : public VisualSensor_v8::obj_dir_data_t,
      public VisualSensor_v8::obj_dist_data_t,
      public VisualSensor_v8::obj_vel_data_t,
      public VisualSensor_v8::obj_name_data_t,
      public VisualSensor_v8::obj_body_dir_data_t,
      public VisualSensor_v8::obj_head_dir_data_t,
      public VisualSensor_v8::obj_pointto_data_t,
      public VisualSensor_v8::obj_tackle_data_t
  {
  };

  struct player_high_data_t
  {
    VisualSensor_v8::range_t M_range;

    union 
    {
      VisualSensor_v8::player_high_close_data_t M_close_data;						
      VisualSensor_v8::player_high_normal_data_t M_normal_data;
      VisualSensor_v8::player_high_ufar_data_t M_ufar_data;
      VisualSensor_v8::player_high_tfar_data_t M_tfar_data;
      VisualSensor_v8::player_high_normal_pointing_data_t M_normal_pointing_data;
      VisualSensor_v8::player_high_ufar_pointing_data_t M_ufar_pointing_data;
    };

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

  struct high_data_t
  {
    int M_time;

    std::list< VisualSensor_v8::goal_high_data_t > M_goals;
    std::list< VisualSensor_v8::flag_high_data_t > M_flags;
    std::list< VisualSensor_v8::ball_high_data_t > M_balls;
    std::list< VisualSensor_v8::player_high_data_t > M_players;
    std::list< VisualSensor_v8::line_high_data_t > M_lines;

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

  virtual void send ( const VisualSensor_v8::low_data_t& data ) = 0;
  virtual void send ( const VisualSensor_v8::high_data_t& data ) = 0;
};

std::ostream& 
toStr( std::ostream& o, 
       const VisualSensor_v8::player_high_normal_data_t& data );

std::ostream& 
toStr( std::ostream& o, 
       const VisualSensor_v8::player_high_normal_pointing_data_t& data );

std::ostream& 
toStr( std::ostream& o, 
       const VisualSensor_v8::player_high_ufar_data_t& data );

std::ostream& 
toStr( std::ostream& o, 
       const VisualSensor_v8::player_high_ufar_pointing_data_t& data );

std::ostream& 
toStr( std::ostream& o,
       const VisualSensor_v8::player_high_data_t& data );

std::ostream&
toStr( std::ostream& o,
       const VisualSensor_v8::high_data_t& data );

#endif