soccertypes.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 SOCCERTYPES_H
#define SOCCERTYPES_H

/** this file contains types common to all plugins in the soccer
    simulation
*/
#include <string>
#include <map>
using namespace std;

//==============================
#define ACTION_MAX 20
#define COMMAND_MAX 20
#define BallPos global.wm.ballPos 
#define POINT_MAX 10
//===============================
typedef int Cycle;
typedef double _Time;
typedef double Dist;
typedef double Angle;
typedef int Unum;
//==============================

enum TPlayMode
{
    // the order of the first 3 play modes should not be changed.
    PM_BeforeKickOff = 0,      /*!< before_kick_off:   before the match  */
    PM_KickOff_Our = 1,       /*!< kick_off_left:     kick off for the left team  */
    PM_KickOff_Opp = 2,      /*!< kick_off_right:    kick off for the right team */
    PM_PlayOn,                 /*!< play_on:           regular game play */
    PM_KickIn_Our,
    PM_KickIn_Opp,
    PM_CORNER_KICK_Our,       /*!< corner_kick_l:     corner kick left team   */
    PM_CORNER_KICK_Opp,      /*!< corner_kick_r:     corner kick right team  */
    PM_GOAL_KICK_Our,         /*!< goal_kick_l:       goal kick for left team */
    PM_GOAL_KICK_Opp,        /*!< goal_kick_r:       goal kick for right team*/
    PM_OFFSIDE_Our,           /*!< offside_l:         offside for left team   */
    PM_OFFSIDE_Opp,          /*!< offside_r:         offside for right team  */
    PM_GameOver,
    PM_Goal_Our,
    PM_Goal_Opp,
    PM_FREE_KICK_Our,         /*!< free_kick_l:       free kick for left team */
    PM_FREE_KICK_Opp,        /*!< free_kick_r:       free kick for right team*/
    PM_NONE                    /*!< no play mode, this must be the last entry */
};

/** mapping from TPlayMode to string constants */
#define STR_PM_BeforeKickOff "BeforeKickOff"
#define STR_PM_KickOff_Left "KickOff_Left"
#define STR_PM_KickOff_Right "KickOff_Right"
#define STR_PM_PlayOn "PlayOn"
#define STR_PM_KickIn_Left "KickIn_Left"
#define STR_PM_KickIn_Right "KickIn_Right"
#define STR_PM_CORNER_KICK_LEFT "corner_kick_left"
#define STR_PM_CORNER_KICK_RIGHT "corner_kick_right"
#define STR_PM_GOAL_KICK_LEFT "goal_kick_left"
#define STR_PM_GOAL_KICK_RIGHT "goal_kick_right"
#define STR_PM_OFFSIDE_LEFT "offside_left"
#define STR_PM_OFFSIDE_RIGHT "offside_right"
#define STR_PM_GameOver "GameOver"
#define STR_PM_Goal_Left "Goal_Left"
#define STR_PM_Goal_Right "Goal_Right"
#define STR_PM_FREE_KICK_LEFT "free_kick_left"
#define STR_PM_FREE_KICK_RIGHT "free_kick_right"
#define STR_PM_Unknown "unknown"


enum TTeamIndex
{
    TI_NONE = 0,
    TI_LEFT = 1,
    TI_RIGHT = 2
};

typedef double TTime;

enum TGameHalf
{
    GH_NONE = 0,
    GH_FIRST = 1,
    GH_SECOND = 2
};

enum ActionType{
	AT_NONE,
	AT_CREATE_AGENT,
	AT_INIT_AGENT,
	AT_DRIVE,
	AT_KICK,
	AT_BEAM,
	AT_RUNTO,
	AT_RUNTO_INTERCEPT,
	AT_GOTO_WITH_ZERO_END_VEL,
	AT_INTERCEPT_FASTEST,
	AT_DRIBBLE,
	AT_BEFORE_KICK_OFF,
	AT_BASIC_POSITIONING,
	AT_POSITION_BEFORE_KICK_OFF,
	AT_SHOOT
};

typedef map<string,ActionType> ActionMap;

enum CMDType{
	CT_NONE,
	CT_CREATE_AGENT,
	CT_INIT_AGENT,
	CT_DRIVE,
	CT_KICK,
	CT_BEAM,
	CT_CATCH,
    CT_PANTILT,
	CT_SAY
};

#endif // SOCCERTYPES_H