kickcalculate.h

RoboCup 2D 仿真组老牌强队Mersad 2005的完整源代码

/*
 *  Copyright 2002-2005, Mersad Team, Allameh 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.
 *
 *  This file is created by: Ahmad Boorghany
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#ifndef __KICK_CALCULATE_H
#define __KICK_CALCULATE_H


#include <InterceptCalculate.h>


#define KICK_DIR_STEP 5.00
#define KICK_POW_STEP 20.0
#define KICK_DIR_NUM (int)(360 / KICK_DIR_STEP)
#define KICK_POW_NUM (int)(100 / KICK_POW_STEP)
#define KICK_CALC_MAX_SEE_DELTA_CYCLE 5
#define KICK_CALCULATES_EXTRA_NUM 3
#define KICK_CALCULATES_NUM ((unsigned)(KICK_DIR_NUM * KICK_POW_NUM)\
		 + KICK_CALCULATES_EXTRA_NUM)

class WorldModel;
class KickCommand;

class KickInterceptPlayer
{
protected:
	// Parent variables
	bool extraCatchedFlag;
	float dashDist;
	unsigned interceptTime;
	const Player *player;
	Point interceptPoint;

public:
	void init(const InterceptPlayer &interPlayer);

	// Getting functions
	bool isExtraCatched() const;
	float getDashDist() const;
	unsigned getInterTime() const;
	const Player &getPlayer() const;
	const Point &getInterPoint() const;
};

class KickInterceptCalculate
{
protected:
	// Parent variables
	unsigned kickCycles;
	unsigned fastestPlayerNum;
	unsigned fastestTmmPlayerNum;
	unsigned fastestOppPlayerNum;
	unsigned checkedPlayersNum;
	Ball firstBall;
	Ball virtualBall;
	PlayMode playMode;
	KickInterceptPlayer checkedPlayers[MAX_CHECK_PLAYERS];
	const Player *kickPlayer;

	// Child variables
	bool validFlag;
	KickCommand *kickCommand;

	// Information variables
	float nearestOppToFastestDist;
	float nearestOppToFastestDir;
	unsigned passedOppPlayers;

public:
	KickInterceptCalculate();
	virtual ~KickInterceptCalculate();

	// Parent functions
	bool existFastestPlayer() const;
	bool existFastestTmmPlayer() const;
	bool existFastestOppPlayer() const;
	bool isFastestPlayer(const Player &player) const;
	unsigned getTmmCheckedPlayersNum() const;
	unsigned getOppCheckedPlayersNum() const;
	unsigned getCheckedListNum(const Player &player) const;
	const Player& getFastestPlayer() const;
	const KickInterceptPlayer& getFastestInterPlayer() const;
	const KickInterceptPlayer& getFastestTmmInterPlayer() const;
	const KickInterceptPlayer& getFastestOppInterPlayer() const;

	// Child functions
	void saveResults(const InterceptCalculate &interCalc);
	void init(const WorldModel *worldModel,
			const KickCommand *kickCommandArg, InterceptCalculate &interCalc);

	// Getting functions
	bool isValid() const;
	float getNearestOppToFastestDist() const;
	float getNearestOppToFastestDir() const;
	unsigned getKickCycles() const;
	unsigned getFastestPlayerNum() const;
	unsigned getFastestTmmPlayerNum() const;
	unsigned getFastestOppPlayerNum() const;
	unsigned getCheckedPlayersNum() const;
	unsigned getPassedOppPlayers() const;
	PlayMode getPlayMode() const;

	const Ball &getFirstBall() const;
	const Ball &getVirtualBall() const;
	const Player *getKickPlayer() const;
	const KickCommand &getKickCommand() const;
	const KickInterceptPlayer &getCheckedInterPlayer(unsigned num) const;

	// Setting functions
	void setValid(bool validFlagArg);
};

class KickCalculate
{
protected:
	bool validFlag;
	bool initedFlag;
	unsigned updateTime;
	unsigned simulatesNum;
	KickInterceptCalculate *simulates;

public:
	KickCalculate();
	virtual ~KickCalculate();

	void init();
	void update(const WorldModel *worldModel);

	void getNeighboursByDir(unsigned num,
			unsigned &neighbour1, unsigned &neighbour2) const;

	// Getting functions
	bool isValid() const;
	bool isInited() const;
	unsigned getUpdateTime() const;
	unsigned getSimulatesNum() const;
	const KickInterceptCalculate &getSimulate(unsigned num) const;

	// Setting functions
	void setValid(bool validFlagArg);
	void setInited(bool initedFlagArg);

};

#endif // __KICK_CALCULATE_H