📄 worldmodel.h
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////////////////////////// UPDATE METHODS (WorldModelUpdate.C)/////////////// // processing new information about the objects (filling World Model). void processSeeGlobalInfo ( ObjectT o, Time time, VecPosition pos, VecPosition vel, AngDeg angBody, AngDeg angNeck ); bool processNewAgentInfo ( ViewQualityT vq, ViewAngleT va, double dStamina, double dEffort, double dSpeed, AngDeg angSpeed, AngDeg angHeadAngle, int iTackleExpires, int iArmMovable, int iArmExpires, VecPosition posArm ); void processNewObjectInfo ( ObjectT o, Time time, double dDist, int iDir, double dDistChange, double dDirChange, AngDeg angRelBodyAng, AngDeg angRelNeckAng, bool isGoalie, ObjectT objMin, ObjectT objMax, double dPointDir, bool isTackling ); bool processPerfectHearInfo ( ObjectT o, VecPosition pos, double dConf, bool bIsGoalie=0 ); bool processPerfectHearInfoBall ( VecPosition pos, VecPosition vel, double dConf ); bool processUnsureHearInfo ( ObjectT o, VecPosition pos, double dConf ); bool processNewHeteroPlayer ( int iIndex, double dPlayerSpeedMax, double dStaminaIncMax, double dPlayerDecay, double dInertiaMoment, double dDashPowerRate, double dPlayerSize, double dKickableMargin, double dKickRand, double dExtraStamina, double dEffortMax, double dEffortMin ); void processCatchedBall ( RefereeMessageT rm, Time time ); void processQueuedCommands ( SoccerCommand commands[], int iCommands ); bool storePlayerMessage ( int iPlayer, char *strMsg, int iCycle ); bool processPlayerMessage ( ); bool processRecvThink ( bool b ); // update methods (defined in WorldModelUpdate.C) bool updateAll ( ); // update with prediction for new cycle bool updateAfterSenseMessage ( );private: // update with new visual information void processLastSeeMessage ( ); bool updateAfterSeeMessage ( ); bool updateAgentObjectAfterSee ( ); bool updateDynamicObjectAfterSee( ObjectT o ); // update new cycle void processLastSenseMessage ( ); bool updateAgentAndBallAfterSense( ); bool updateBallAfterKick ( SoccerCommand soc ); bool updateDynamicObjectForNextCycle( ObjectT o, int iCycle ); bool updateBallForCollision ( VecPosition posAgent ); // update from relative to global and vice versa bool updateRelativeFromGlobal ( ); bool updateObjectRelativeFromGlobal( ObjectT o ); // methods to determine agent state from perceived information bool calculateStateAgent ( VecPosition *posGlobal, VecPosition *velGlobal, AngDeg *angGlobal ); void initParticlesAgent ( AngDeg angGlobal ); void initParticlesAgent ( VecPosition posInitital ); int checkParticlesAgent ( AngDeg angGlobalNeck ); void updateParticlesAgent ( VecPosition vel, bool bAfterSense ); VecPosition averageParticles ( VecPosition posArray[], int iLength ); void resampleParticlesAgent ( int iLeft ); bool calculateStateAgent2 ( VecPosition *posGlobal, VecPosition *velGlobal, AngDeg *angGlobal ); bool calculateStateAgent3 ( VecPosition *posGlobal, VecPosition *velGlobal, AngDeg *angGlobal ); VecPosition calculatePosAgentWith2Flags( ObjectT objFlag1, ObjectT objFlag2 ); AngDeg calculateAngleAgentWithPos ( VecPosition pos ); // methods to determine ball state from perceived information bool calculateStateBall ( VecPosition *posGlobal, VecPosition *velGlobal ); void initParticlesBall ( VecPosition posArray[], VecPosition velArray[], int iLength ); void checkParticlesBall ( VecPosition posArray[], VecPosition velArray[], int iLength, int *iNrLeft ); void updateParticlesBall ( VecPosition posArray[], VecPosition velArray[], int iLength, double dPower, AngDeg ang ); void resampleParticlesBall ( VecPosition posArray[], VecPosition velArray[], int iLength, int iLeft ); ObjectT getMaxRangeUnknownPlayer ( ObjectT obj, char* strMsg ); VecPosition calculateVelocityDynamicObject( ObjectT o ); // methods to determine player state from perceived information bool calculateStatePlayer ( ObjectT o, VecPosition *posGlobal, VecPosition *velGlobal ); // methods to calculate noise range (quantized noise) bool getMinMaxDistQuantizeValue ( double dInput, double *dMin, double *dMax, double x1, double x2 ); bool getMinMaxDirChange ( double dOutput, double *dMin, double *dMax, double x1 ); bool getMinMaxDistChange ( double dOutput, double dDist, double *dMin, double *dMax, double x1, double xDist1, double xDist2 ); double invQuantizeMin ( double dOutput, double dQuantizeStep ); double invQuantizeMax ( double dOutput, double dQuantizeStep );public: // various update methods void mapUnknownPlayers ( Time time ); bool updateSSToHeteroPlayerType ( int iPlayerType ); bool resetTimeObjects ( ); void removeGhosts ( ); ////////////////////////// PREDICTIONS (WorldModelPredict.C) //////////////// // predictions of worldmodel about future states of different objects bool predictStateAfterCommand ( SoccerCommand com, VecPosition *pos, VecPosition *vel, AngDeg *angGlobalBody, AngDeg *angGlobalNeck, ObjectT obj=OBJECT_ILLEGAL, Stamina *sta = NULL ); bool predictAgentStateAfterCommand(SoccerCommand com, VecPosition *pos, VecPosition *vel, AngDeg *angBody, AngDeg *angNeck, Stamina *sta ); bool predictObjectStateAfterCommand( ObjectT obj, SoccerCommand com, VecPosition *pos, VecPosition *vel, AngDeg *angBody, AngDeg *angNeck, Stamina *sta ); VecPosition predictAgentPosAfterCommand( SoccerCommand com ); void predictStateAfterDash ( double dActualPower, VecPosition *pos, VecPosition *vel, Stamina *sta, double dDirection, ObjectT o=OBJECT_ILLEGAL); void predictStateAfterTurn ( AngDeg dSendAngle, VecPosition *pos, VecPosition *vel, AngDeg *angBody, AngDeg *angNeck, ObjectT obj=OBJECT_ILLEGAL, Stamina *sta = NULL ); void predictBallInfoAfterCommand( SoccerCommand soc, VecPosition *pos = NULL, VecPosition *vel = NULL ); VecPosition predictPosAfterNrCycles ( ObjectT o, double dCycles, int iDashPower = 100, VecPosition *posIn = NULL, VecPosition *velIn = NULL, bool bUpdate = true ); VecPosition predictAgentPos ( int iCycles, int iDashPower = 0 ); VecPosition predictFinalAgentPos ( VecPosition *pos = NULL, VecPosition *vel = NULL ); int predictNrCyclesForDistance ( ObjectT o,⌨️ 快捷键说明
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