worldmodel.h

底层robocup3d源码。 suse１０．０ kdevelop 开发.

#ifndef WORLDMODEL_H
#define WORLDMODEL_H
#include "geometry.h"
#include "myQueue.h"
#include "param.h"
#include "file.h"
#include "command.h"
#define  VMAX  1.616
#define DASH_K  2.51038 
#define BALL_K_GROUND  0.2113037527
#define BALL_K_AIR  0.3
#define G    9.81
#define STEP   2
#define DELAY  0
/**
build  the worldmodel

@author root
*/

namespace MSpace {
struct MoveState
{
	Vec PositionV;
	Vec speed;
};
struct Vision
{
   long cycle;
   Pol  posP;
   Vec  posV;
};
class Worldmodel{
public:
    Worldmodel();
    double GetHalfLength();
    double GetHalfWidth();
    double GetHalfGoalWidth();
    int   GetMyNumber();
    double GeGoalDepth();
    double GetBallMass();
    double GetAgentMass();
    double GetNowCycle();
    Vec GetOpponentGoal();
    Vec GetOurGoal();
    //double GetThe
    std::string GetPlayMode();
    bool  IsUsKickOff();
    bool  IsBallInAir();
    bool  Updata();
    void  UpMystate();
    void  ForeseeMyState();
    void  UpBallState();//Up ball state
    MoveState    GetFutureMyState(long Cycle,Vec F);
    void  SetMyPosition(const Vec v);
    double WhereBall();
    MoveState GetBallState_ground(long cycle,int &reliable);//foresee ball state on ground in cycle
    MoveState GetBallState_air(long cycle,int &reliable);//foresee ball state in cycle in air
    MoveState GetTeamMateState(int number,long cycle);
    MoveState GetOpponentState(int number,long cycle);
    MoveState GetMyState();
    Vec GetStrategy(int num);
    Vec GetMyStrategy();
    void SetFormation(int n);
    int WhoIsClosestToBall();
    bool IsMeClosestToBall();
    //the followings are used for testing 
    Vec   GetTeamMatePosV(int number);//return the latest message
    Vec   GetOpponentPosV(int number);//return the latest message
    Pol   GetTeamMatePosP(int number);//return the latest message
    Vec   GetMeV();//return the latest message
    Pol   GetOpponentPosP(int number);//return the latest message
    Vec   GetBallV();//return the latest message
    MoveState GetBallState();
    Vec   ForeseeFallPoint(double &t,Vec &v,int &reliable);
    Vec   InterceptBall(double &leftTime, int &reliable);
    Pol   GetBallP();//return the latest message
    ~Worldmodel();
    double Get_V0_XY_sv(double s_XY,double v_t_XY,double k);
    double Get_t_Z(double v0_z,double s_z);
    double Get_t_XY_v(double v0_XY,double Vt_XY,double k);
    double Get_v0_Z_st(double s_z,double t_z);
    double Get_v0_Z_vt(double vt_z,double t_z);
    double Get_s_XY(double v0_XY,double t_XY,double k);
private:
    double Get_Vt_Z(double v0_z,double t_z);
    double Get_s_Z(double v0_z,double t_z);
    double Get_t_XY(double v0_XY,double s_XY,double k);
    double Get_V0_XY_tv(double t_XY,double v_t_XY,double k);
    double Get_V0_XY_st(double s_XY,double t_XY,double k);
    double Get_Vt_XY(double v0_XY,double t_XY,double k);
    Vec   GetMyPosition();//don't use often, use GetMeP() instead.
    MoveState  Mystate;
    bool   MeStop;
    bool   BallStop;
    MoveState  Ballstate;
    long LastStateCycle;
    long NowCycle;
    int   formation;
    queue <Vision>BallQ;
    queue <Vision>MeQ;
    queue <Vision>TeamMateVQ[11];
    queue <Vision>OpponentVQ[11];
};

}
#endif