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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>WorldModelUpdate.C Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body bgcolor="#ffffff"><!-- Generated by Doxygen 1.2.12 --><center><a class="qindex" href="index.html">Main Page</a> <a class="qindex" href="hierarchy.html">Class Hierarchy</a> <a class="qindex" href="annotated.html">Compound List</a> <a class="qindex" href="files.html">File List</a> <a class="qindex" href="functions.html">Compound Members</a> <a class="qindex" href="globals.html">File Members</a> </center><hr><h1>WorldModelUpdate.C</h1><a href="WorldModelUpdate_8C.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001 <font class="comment">/*</font>00002 <font class="comment">Copyright (c) 2000,2001, Jelle Kok, University of Amsterdam</font>00003 <font class="comment">All rights reserved.</font>00004 <font class="comment"></font>00005 <font class="comment">Redistribution and use in source and binary forms, with or without </font>00006 <font class="comment">modification, are permitted provided that the following conditions are met:</font>00007 <font class="comment"></font>00008 <font class="comment">1. Redistributions of source code must retain the above copyright notice, this </font>00009 <font class="comment">list of conditions and the following disclaimer. </font>00010 <font class="comment"></font>00011 <font class="comment">2. Redistributions in binary form must reproduce the above copyright notice, </font>00012 <font class="comment">this list of conditions and the following disclaimer in the documentation </font>00013 <font class="comment">and/or other materials provided with the distribution. </font>00014 <font class="comment"></font>00015 <font class="comment">3. Neither the name of the University of Amsterdam nor the names of its </font>00016 <font class="comment">contributors may be used to endorse or promote products derived from this </font>00017 <font class="comment">software without specific prior written permission. </font>00018 <font class="comment"></font>00019 <font class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" </font>00020 <font class="comment">AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE </font>00021 <font class="comment">IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE </font>00022 <font class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE </font>00023 <font class="comment">FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL </font>00024 <font class="comment">DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR </font>00025 <font class="comment">SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER </font>00026 <font class="comment">CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, </font>00027 <font class="comment">OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE </font>00028 <font class="comment">OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</font>00029 <font class="comment">*/</font>00044 <font class="preprocessor">#include "<a class="code" href="WorldModel_8h.html">WorldModel.h</a>"</font>00045 <font class="preprocessor">#include <stdio.h></font> <font class="comment">// needed for sprintf</font>00046 00047 <font class="comment">/******************************************************************************/</font>00048 <font class="comment">/********************** CLASS WORLDMODEL **************************************/</font>00049 <font class="comment">/******************************************************************************/</font>00050 00051 <a name="l00063"></a><a class="code" href="classWorldModel.html#a88">00063</a> <font class="keywordtype">void</font> <a class="code" href="classWorldModel.html#a88">WorldModel::processSeeGlobalInfo</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o, <a class="code" href="classTime.html">Time</a> time,00064 <a class="code" href="classVecPosition.html">VecPosition</a> pos, <a class="code" href="classVecPosition.html">VecPosition</a> vel, <a class="code" href="Geometry_8h.html#a2">AngDeg</a> angBody, <a class="code" href="Geometry_8h.html#a2">AngDeg</a> angNeck)00065 {00066 <a class="code" href="classDynamicObject.html">DynamicObject</a> * dobj;00067 <a class="code" href="classPlayerObject.html">PlayerObject</a> * pobj;00068 00069 <font class="keywordflow">if</font>( o == <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a> )00070 <font class="keywordflow">return</font>;00071 <font class="keywordflow">if</font>( <a class="code" href="classSoccerTypes.html#d12">SoccerTypes::isPlayer</a>( o ) )00072 {00073 pobj = (<a class="code" href="classPlayerObject.html">PlayerObject</a>*)<a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );00074 pobj-><a class="code" href="classObject.html#a20">setTimeLastSeen</a>( time );00075 pobj-><a class="code" href="classObject.html#a12">setGlobalPosition</a>( pos, time );00076 pobj-><a class="code" href="classDynamicObject.html#a7">setGlobalVelocity</a>( vel, time );00077 pobj-><a class="code" href="classPlayerObject.html#a9">setGlobalBodyAngle</a>( angBody, time );00078 pobj-><a class="code" href="classPlayerObject.html#a13">setGlobalNeckAngle</a>( <a class="code" href="classVecPosition.html#d1">VecPosition::normalizeAngle</a>(angBody+angNeck),00079 time );00080 pobj-><a class="code" href="classPlayerObject.html#a3">setIsKnownPlayer</a>( <font class="keyword">true</font> );00081 }00082 <font class="keywordflow">else</font> <font class="keywordflow">if</font>( <a class="code" href="classSoccerTypes.html#d8">SoccerTypes::isBall</a>( o ) )00083 {00084 dobj = (<a class="code" href="classDynamicObject.html">DynamicObject</a>*)<a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );00085 dobj-><a class="code" href="classObject.html#a20">setTimeLastSeen</a>( time );00086 dobj-><a class="code" href="classObject.html#a12">setGlobalPosition</a>( pos, time );00087 dobj-><a class="code" href="classDynamicObject.html#a7">setGlobalVelocity</a>( vel, time );00088 }00089 }00090 <a name="l00102"></a><a class="code" href="classWorldModel.html#a89">00102</a> <font class="keywordtype">bool</font> <a class="code" href="classWorldModel.html#a89">WorldModel::processNewAgentInfo</a>( <a class="code" href="SoccerTypes_8h.html#a245">ViewQualityT</a> vq, <a class="code" href="SoccerTypes_8h.html#a244">ViewAngleT</a> va,00103 <font class="keywordtype">double</font> dStamina, <font class="keywordtype">double</font> dEffort, <font class="keywordtype">double</font> dSpeed, <a class="code" href="Geometry_8h.html#a2">AngDeg</a> angSpeed,00104 <a class="code" href="Geometry_8h.html#a2">AngDeg</a> angHeadAngle )00105 {00106 <a class="code" href="classStamina.html">Stamina</a> sta = <a class="code" href="classWorldModel.html#o14">agentObject</a>.<a class="code" href="classAgentObject.html#a9">getStamina</a>();00107 00108 sta.<a class="code" href="classStamina.html#a3">setStamina</a> ( dStamina );00109 sta.<a class="code" href="classStamina.html#a5">setEffort</a> ( dEffort );00110 <a class="code" href="classWorldModel.html#o14">agentObject</a>.<a class="code" href="classAgentObject.html#a10">setStamina</a> ( sta );00111 <a class="code" href="classWorldModel.html#o14">agentObject</a>.<a class="code" href="classAgentObject.html#a8">setViewQuality</a> ( vq );00112 <a class="code" href="classWorldModel.html#o14">agentObject</a>.<a class="code" href="classAgentObject.html#a6">setViewAngle</a> ( va );00113 <a class="code" href="classWorldModel.html#o14">agentObject</a>.<a class="code" href="classAgentObject.html#a12">setSpeedRelToNeck</a> ( <a class="code" href="classVecPosition.html">VecPosition</a>( dSpeed, angSpeed, POLAR) );00114 <a class="code" href="classWorldModel.html#o14">agentObject</a>.<a class="code" href="classAgentObject.html#a15">setBodyAngleRelToNeck</a>( angHeadAngle );00115 00116 <font class="keywordflow">return</font> <font class="keyword">true</font>;00117 }00118 <a name="l00138"></a><a class="code" href="classWorldModel.html#a90">00138</a> <font class="keywordtype">void</font> <a class="code" href="classWorldModel.html#a90">WorldModel::processNewObjectInfo</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o, <a class="code" href="classTime.html">Time</a> time,00139 <font class="keywordtype">double</font> dDist, <font class="keywordtype">int</font> iDir, <font class="keywordtype">double</font> dDistChange, <font class="keywordtype">double</font> dDirChange,00140 <a class="code" href="Geometry_8h.html#a2">AngDeg</a> angRelBodyAng, <a class="code" href="Geometry_8h.html#a2">AngDeg</a> angRelNeckAng, <font class="keywordtype">bool</font> isGoalie )00141 {00142 <font class="keywordflow">if</font>( dDist == <a class="code" href="SoccerTypes_8h.html#a19">UnknownDoubleValue</a> || o == <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a> )00143 <font class="keywordflow">return</font>; <font class="comment">// no sense to update when only angle is known.</font>00144 00145 <font class="keywordflow">if</font>( <a class="code" href="classSoccerTypes.html#d3">SoccerTypes::isFlag</a>( o ) )00146 {00147 <a class="code" href="classWorldModel.html#o19">Flags</a>[<a class="code" href="classSoccerTypes.html#d14">SoccerTypes::getIndex</a>(o)].setRelativePosition(dDist,(<font class="keywordtype">double</font>)iDir,time);00148 <a class="code" href="classWorldModel.html#o19">Flags</a>[<a class="code" href="classSoccerTypes.html#d14">SoccerTypes::getIndex</a>(o)].setTimeLastSeen ( time );00149 <a class="code" href="classWorldModel.html#o19">Flags</a>[<a class="code" href="classSoccerTypes.html#d14">SoccerTypes::getIndex</a>(o)].setType ( o );00150 }00151 <font class="keywordflow">else</font> <font class="keywordflow">if</font>( <a class="code" href="classSoccerTypes.html#d12">SoccerTypes::isPlayer</a>( o ) || <a class="code" href="classSoccerTypes.html#d8">SoccerTypes::isBall</a>( o ) )00152 {00153 <a class="code" href="classDynamicObject.html">DynamicObject</a> *d = NULL;00154 00155 <font class="comment">// if we do not have all information, update UnknownPlayer array</font>00156 <font class="keywordflow">if</font>( !( <a class="code" href="classSoccerTypes.html#d13">SoccerTypes::isKnownPlayer</a>( o ) || <a class="code" href="classSoccerTypes.html#d8">SoccerTypes::isBall</a>( o ) ) )00157 {00158 <a class="code" href="classWorldModel.html#o17">UnknownPlayers</a>[<a class="code" href="classWorldModel.html#o18">iNrUnknownPlayers</a>].setIsKnownPlayer( <font class="keyword">false</font> );00159 d = &<a class="code" href="classWorldModel.html#o17">UnknownPlayers</a>[<a class="code" href="classWorldModel.html#o18">iNrUnknownPlayers</a>];00160 <a class="code" href="classWorldModel.html#o18">iNrUnknownPlayers</a>++;00161 }00162 <font class="keywordflow">else</font> <font class="comment">// else update the known object (teammate, opponent, ball)</font>00163 {00164 d = (<a class="code" href="classDynamicObject.html">DynamicObject</a>*)<a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );00165 <font class="keywordflow">if</font>( <a class="code" href="classSoccerTypes.html#d12">SoccerTypes::isPlayer</a>( o ) )00166 ((<a class="code" href="classPlayerObject.html">PlayerObject</a>*)d)->setIsKnownPlayer( <font class="keyword">true</font> );00167 }00168 00169 <font class="keywordflow">if</font>( d != NULL ) <font class="comment">// if object was known</font>00170 {00171 <font class="comment">// set all values for this dynamicobject </font>00172 d-><a class="code" href="classObject.html#a7">setRelativePosition</a>( dDist, (<font class="keywordtype">double</font>)iDir, time );00173 <font class="keywordflow">if</font>( dDistChange != <a class="code" href="SoccerTypes_8h.html#a19">UnknownDoubleValue</a> )⌨️ 快捷键说明
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