filter.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 WIN32

#ifndef FILTER_H
#define FILTER_H

#include "Global.h"

#include "soccertypes.h"

#include <vector>

using namespace std;


class MyPosFilter{

	double k ;

	double T ;

	double alpha;

	double quo;

public:

	MyPosFilter();

	~MyPosFilter();

	void filter();

	double A[POINT_MAX],B[POINT_MAX],C[POINT_MAX];

	double AA[POINT_MAX],BB[POINT_MAX],CC[POINT_MAX];

	double D[POINT_MAX];

	int self_filter_count;

	int next_count;
};



class BallFilter{

public:

	BallFilter();

	~BallFilter();

	void filter();
	void resetBallFilter();
	bool IsBallinair();

	void getBallDecay();

	double A[POINT_MAX],B[POINT_MAX],C[POINT_MAX],K[POINT_MAX];

	double k,k_inair,k_onground;

	int ball_filter_count;

public:

	void filterMyPos();

private:

	MyPosFilter self_pos_filter;

	int effectBallCount;

	int self_filter_count;
	bool IsBinair;

};

class WMFilter{
public:
	WMFilter();
	~WMFilter();
	void filterOfAgent();
	void filterOfBall();
private:
	MyPosFilter filterAgent;
	BallFilter filterBall;
	Vector3 ballPos;
	Vector3 pos;
	int i;
		
};

extern WMFilter filter;
#endif

#endif