memoption.h

RoboCup 2D 仿真组冠军源代码之1998年冠军队——CMUnited98源代码

/* -*- Mode: C -*- */

/* MemOption.h
 * CMUnited98 (soccer client for Robocup98)
 * Peter Stone <[e-mail]>
 * Computer Science Department
 * Carnegie Mellon University
 * Copyright (C) 1998 Peter Stone
 *
 * CMUnited-98 was created by Peter Stone, Manuela Veloso, and Patrick Riley
 *
 * You may copy and distribute this program freely as long as you retain this notice.
 * If you make any changes or have any comments we would appreciate a message.
 */

/* MemOption.C contains all the client parameters
 * They can be specified as .conf files or command line options in the same style
 * as for soccerserver.  The code is based on Noda's soccerserver code.
 *
 * Parameters starting with SP_ are server parameters.  Most can be read from
 * the standard server.conf file
 *
 * Not all paramters listed here have meaning in the release version of CMUnited98
 */

#ifndef _OPTION_H_
#define _OPTION_H_

#include "types.h"

struct option_t {
   char	optname[32] ;
   void	*vptr ;
   int	vsize ;
};

enum InputType{
 V_INT,
 V_FLOAT,
 V_BOOL,
 V_STRING,	
 V_ONOFF,		
 V_NONE		
};

#define MAX_TEAMNAME_LEN  20
#define MAX_HOST_LEN      50
#define MAX_FILE_LEN      256
#define MAX_FP_LEN        20
#define MAX_TREE_STEM_LEN 50

/* Things to be read at startup that never change */
class OptionInfo {
public:
  OptionInfo();
  void GetOptions(int, char**);

  /* Client version params */
  Bool  VP_test_l;
  Bool  VP_test_r;
  Bool  VP_test;
  Bool  VP_train_DT;
  Bool  VP_use_DT;

  /* Initialize params */
  int   IP_my_score;
  int   IP_their_score;
  int   IP_reconnect;    /* If non-zero, reconnect to that unum */  
  /* Client params */
  char  MyTeamName[MAX_TEAMNAME_LEN];
  Bool  CP_goalie;
  Bool  CP_save_log;
  int   CP_save_freq;
  Bool  CP_save_sound_log;
  int   CP_save_sound_freq;
  int   CP_senses_per_cycle;
  float CP_max_conf;
  float CP_min_valid_conf;
  float CP_conf_decay;
  float CP_player_conf_decay;
  float CP_ball_conf_decay;
  float CP_max_player_move_factor;  /* multiply by SP_player_speed_max to see how far a player can be 
				       from its last position and still be considered the same player */
  int   CP_max_say_interval;
  float CP_ball_moving_threshold;
  float CP_dodge_angle_buffer;
  float CP_dodge_distance_buffer;
  float CP_dodge_power;
  char  CP_tree_stem[MAX_TREE_STEM_LEN];
  int   CP_DT_evaluate_interval;
  int   CP_say_tired_interval;
  float CP_tired_buffer;
  Bool  CP_set_plays;
  int   CP_Setplay_Delay;
  int   CP_Setplay_Max_Delay;
  int   CP_Setplay_Time_Limit;
  float CP_kickable_buffer;
  int   CP_mark_persist_time;
  float CP_track_max_distance;
  float CP_track_min_distance;
  Bool  CP_pull_offsides;
  Bool  CP_pull_offsides_when_winning;
  Bool  CP_spar;
  Bool  CP_mark;

  /* pat added these */
  Bool CP_use_new_position_based_vel;
  Bool CP_take_stats;

  float CP_opt_ctrl_dist;
  float CP_KickTo_err;
  float CP_closest_margin;
  float CP_dokick_factor;
  float CP_max_turn_kick_pow;
  int   CP_kick_time_space;
  float CP_max_ignore_vel;
  float CP_max_est_err;
  float CP_hard_kick_margin;
  float CP_hard_kick_err;
  float CP_hard_kick_factor;
  float CP_hard_kick_end_turn_dist;
  int   CP_max_hard_kick_angle_err;
  int   CP_max_go_to_point_angle_err;
  int   CP_max_int_lookahead;
  int   CP_hardest_kick_angle_disp;
  float CP_intercept_close_dist;
  int   CP_intercept_step;
  float CP_turnball_opp_worry_dist; 
  float CP_collision_buffer;
  float CP_behind_angle;
  int   CP_time_for_full_rotation;
  float CP_ball_invalidation_dist_err;   
  /* dribble params */
  float CP_dribble_ball_dist;
  /* dist where opponent starts to affect where we dribble ball */
  float CP_dribble_ignore_opp_dist ;
  /* dist of opponent that makes us go to DM_Strict mode */
  float CP_dribble_worry_opp_dist;
  /* angle we normally like to dribble at */
  float CP_dribble_angle_norm ;
  /* max and min distnaces to worry about dodging a player */
  float CP_dribble_dodge_max_dist;
  /* angle diff to make us turn if dodging */
  float CP_dribble_dodge_angle_err ;
  /* how far off in expected angle we let a ball before we kick it to correct */
  float CP_dribble_exp_angle_buffer ;
  /* if drib_ang > 180 - X, we will just dribble on the side where the ball is */ 
  float CP_dribble_angle_ignore_buffer;
  float CP_dribble_dodge_close_dist;
  float CP_can_dribble_cone_ratio;
  float CP_dribble_towards_length;
  float CP_dribble_sideline_buffer;
  float CP_dribble_sphere_rad;

  float CP_move_imp_1v1_initial;
  float CP_move_imp_1v1_inc;
  float CP_move_imp_1v1_threshold;
  float CP_at_point_buffer;
  float CP_overrun_dist;
  float CP_def_block_dist;
  float CP_def_block_dist_ratio;
  float CP_overrun_buffer;
  float CP_breakaway_buffer;
  float CP_breakaway_kickable_buffer;

  float CP_cycles_to_kick;
  float CP_static_kick_dist;
  float CP_static_kick_ang;
  float CP_static_kick_ang_err;
  float CP_static_kick_dist_err;
  float CP_static_kick_overrun_dist;

  float CP_goalie_baseline_buffer;
  float CP_goalie_scan_angle_err;
  float CP_goalie_at_point_buffer;
  float CP_goalie_vis_angle_err;
  float CP_goalie_max_shot_distance;
  float CP_goalie_min_pos_dist;
  float CP_goalie_max_pos_dist;
  float CP_goalie_max_forward_percent;
  float CP_goalie_ball_ang_for_corner;  
  float CP_goalie_max_come_out_dist;
  float CP_goalie_ball_dist_for_corner;
  float CP_goalie_ball_dist_for_center;
  float CP_goalie_free_kick_dist;
  float CP_goalie_go_to_ball_cone_ratio;
  int   CP_goalie_warn_space;
  Bool  CP_goalie_comes_out;

  float CP_clear_ball_ang_step;
  float CP_clear_ball_cone_ratio;
  float CP_clear_ball_max_dist;
  float CP_clear_offensive_min_horiz_dist;
  float CP_clear_offensive_min_angle;

  float CP_hardest_kick_shot_distance;
  float CP_moderate_kick_shot_distance;
  float CP_good_shot_distance;
  float CP_shot_distance;
  int   CP_cycles_to_kick_buffer;
  float CP_breakaway_shot_distance;

  /* Formation params */
  char  FP_initial_formation[MAX_FP_LEN];
  char  FP_formation_when_tied[MAX_FP_LEN];
  char  FP_formation_when_losing[MAX_FP_LEN];
  char  FP_formation_when_losing_lots[MAX_FP_LEN];
  char  FP_formation_when_winning[MAX_FP_LEN];
  char  FP_initial_hc_method[MAX_FP_LEN];
  char  FP_initial_mc_method[MAX_FP_LEN];
  int   FP_initial_player_1_pos;
  int   FP_initial_player_2_pos;
  int   FP_initial_player_3_pos;
  int   FP_initial_player_4_pos;
  int   FP_initial_player_5_pos;
  int   FP_initial_player_6_pos;
  int   FP_initial_player_7_pos;
  int   FP_initial_player_8_pos;
  int   FP_initial_player_9_pos;
  int   FP_initial_player_10_pos;
  int   FP_initial_player_11_pos;
  int   FP_goalie_number;

  /* Server params */
  float SP_pitch_length;
  float SP_pitch_width;
  float SP_pitch_margin;
  float SP_penalty_area_length;
  float SP_penalty_area_width;
  float SP_goal_area_length;
  float SP_goal_area_width;
  float SP_penalty_spot_dist;
  float SP_corner_arc_r;
  float SP_free_kick_buffer;
  int   SP_after_goal_wait;
  float SP_feel_distance;
  int   SP_num_lines;
  int   SP_num_markers;
  float SP_unum_far_length;
  float SP_unum_too_far_length;
  float SP_team_far_length;
  float SP_team_too_far_length;

  float SP_version;
  int   SP_team_size;
  int   SP_half;
  char  SP_host[MAX_HOST_LEN];
  float SP_goal_width;       
  float SP_player_size;	
  float SP_player_decay;    	
  float SP_player_rand;	
  float SP_player_weight;	
  float SP_player_speed_max;	
  float SP_stamina_max;	
  float SP_stamina_inc;	
  float SP_recover_dec_thr;	
  float SP_recover_min; 	
  float SP_recover_dec; 	
  float SP_effort_dec_thr;	
  float SP_effort_min;	
  float SP_effort_dec;	
  float SP_effort_inc_thr;	
  float SP_effort_inc;	
  float SP_ball_size;		
  float SP_ball_decay;	
  float SP_ball_rand;		
  float SP_ball_weight;	
  float SP_ball_speed_max;	
  float SP_dash_power_rate;	
  float SP_kick_power_rate;	
  float SP_kickable_margin;	
  float SP_kickable_area;	
  float SP_catch_prob;	
  float SP_catch_area_l;	
  float SP_catch_area_w;	
  float SP_max_power;		
  float SP_min_power;		
  float SP_max_moment;		
  float SP_min_moment;		
  float SP_visible_angle;	
  float SP_visible_dist;	
  float SP_audio_cut_dist;	
  float SP_dist_qstep;	
  float SP_land_qstep;	
  float SP_ckmargin;	
  float SP_wind_dir;	
  float SP_wind_force;	
  float SP_wind_rand;	
  Bool SP_wind_none;
  Bool SP_wind_random;
  int SP_half_time;
  int SP_port;
  int SP_coach_port;
  int SP_simulator_step;
  int SP_send_step;
  int SP_recv_step;
  int SP_say_msg_size;
  int SP_hear_max;
  int SP_hear_inc;
  int SP_hear_decay;
  int SP_catch_ban_cycle;
  Bool SP_coach_mode;
  Bool SP_coach_w_referee_mode;
  Bool SP_use_offside;
  Bool SP_forbid_kickoff_offside;
  char SP_logfile[MAX_FILE_LEN];
  char SP_recfile[MAX_FILE_LEN];
  Bool SP_rec_log;
  int  SP_rec_ver;
  char SP_replay[MAX_FILE_LEN];
  Bool SP_verbose;
  Bool SP_send_log;
  float SP_offside_area;
  float SP_inertia_moment;
};

#endif