predictor.h

浙江大学 RoboCup3D 2006 源代码

/***************************************************************************
 *   Copyright (C) 2004 - 2006 by ZJUBase                                  *
 *                                National Lab of Industrial Control Tech. *
 *                                Zhejiang University, China               *
 *                                                                         *
 *   Achievements of ZJUBase in RoboCup Soccer 3D Simulation League:       *
 *    In RoboCup championship,                                             *
 *      - June 2006 - 3rd place in RoboCup 2006, Bremen, Germany (lost     *
 *        the semi-final with a coin toss)                                 *
 *      - July 2005 - 3rd place in RoboCup 2005, Osaka, Japan (share the   *
 *        3rd place with team Caspian)                                     *
 *    In RoboCup local events,                                             *
 *      - April 2006 - 2nd place in RoboCup Iran Open 2006, Tehran, Iran   *
 *        (lost the final with a coin toss)                                *
 *      - December 2005 - 2nd place in AI Games 2005, Isfahan, Iran        *
 *      - July 2005 - champion in China Robot Competition 2005, Changzhou, *
 *        China                                                            *
 *      - October 2004 - champion in China Soccer Robot Competition 2004,  *
 *        Guangzhou, China                                                 *

*                                                                         *
 *   Team members:                                                         *
 *    Currently the team leader is,                                        *
 *           Hao JIANG ([e-mail]; [e-mail])       *
 *    In the next season, the leader will be                               *
 *           Yifeng ZHANG ([e-mail])                        *
 *    ZJUBase 3D agent is created by                                       *
 *           Dijun LUO ([e-mail])                             *
 *    All the members who has ever contributed:                            *
 *           Jun JIANG                                                     *
 *           Xinfeng DU ([e-mail])                             *
 *           Yang ZHOU ([e-mail])                             *
 *           Zhipeng YANG                                                  *
 *           Xiang FAN                                                     *
 *                                                                         *
 *   Team Manager:                                                          *
 *      Ms. Rong XIONG ([e-mail])                            *
 *                                                                         *
 *   If you met any problems or you have something to discuss about        *
 *   ZJUBase. Please feel free to contact us through EMails given below.   *
 *                                                                         *
 *   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; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   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 General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/

#ifndef PREDICTOR_H
#define PREDICTOR_H

#include "Global.h"
#include "ServerSettings.h"
#include "Situation.h"

#define IT_MAX_X 140
#define IT_MAX_Y 100
#define IT_MAX_V 27

typedef struct tagITInfo  ITInfo;

class Predictor{
	double A,B,C,D,J,H,M,N;

public:
	double Aa,Bb,Cc,Dd;	
	static const unsigned char IT_Cyc[IT_MAX_V][IT_MAX_Y][IT_MAX_X];

	Predictor();
	~Predictor();
	Vector3 predictAgentVelNextCycle();
	Vector3 predictAgentPosNextCycle();
	AgentStatus predictAgentStatus(AgentStatus current,Vector3 force);
	AgentStatus predictBallStatus(AgentStatus current,int nCycs);
	int predictNrITCyc(AgentStatus agent,AgentStatus ball);
	void predictNrlTCycPrecise(AgentStatus agent, AgentStatus ball, ITInfo& refItinfo,int team);
	void predictNrITCycPreciseforGoalia(AgentStatus agent,AgentStatus ball,ITInfo& refItinfo);
	AgentStatus predictAgentStatus(AgentStatus current,Vector3 force,double Time);
	ServerSettings *SS;
	bool getFReachPoint(Vector3 v0,Vector3 p0,Vector3 p1,Vector3& F1);
	bool getF1F2ReachPoint(Vector3 v0,Vector3 p0,Vector3 p1,Vector3& F1,Vector3 &F2);
	bool getF1F2F3ReachPoint(Vector3 v0,Vector3 p0,Vector3 p1,Vector3& F1,Vector3 &F2,Vector3 &F3);
	AgentStatus predictBallStatusAfterNrCycle(AgentStatus current,int nCyc);
	Vector3 predictForceToReachPoint(Vector3 dest, AgentStatus agentstatus);
	Vector3 predictForceToReachPoint_forPredictCye(Vector3 dest, AgentStatus agentstatus);
	Vector3 predictForceToReachPoint(Vector3 dest, AgentStatus agentstatus,Angle ang_to_kick);
	Vector3 predictForceToReachPoint_forPredictCye(Vector3 dest, AgentStatus agentstatus,Angle ang_to_kick);

	//==========停球
	Vector3 predictForceToReachPoint_forStopBall(Vector3 dest, AgentStatus agentstatus);
	int predictCycToReachPoint_forStopBall(Vector3 dest,AgentStatus agentstatus);

	//===================
	double predictTimeToReachPoint(Vector3 dest, AgentStatus agentstatus,Angle ang_to_kick);
	int predictCycToReachPoint(Vector3 dest, AgentStatus agentstatus,Angle ang_to_kick);
	void Init(ServerSettings *ss);
};

extern Predictor predictor;

#endif