worldmodelupdate_8c-source.html

来自「仿真人工智能是指用人工的方法和技术」· HTML 代码 · 共 629 行 · 第 1/5 页

00349    <a class="code" href="classWorldModel.html#o2">pt</a>[iIndex].<a class="code" href="classHeteroPlayerSettings.html#m2">dPlayerDecay</a>    = dPlayerDecay;
00350    <a class="code" href="classWorldModel.html#o2">pt</a>[iIndex].<a class="code" href="classHeteroPlayerSettings.html#m3">dInertiaMoment</a>  = dInertiaMoment;
00351    <a class="code" href="classWorldModel.html#o2">pt</a>[iIndex].<a class="code" href="classHeteroPlayerSettings.html#m4">dDashPowerRate</a>  = dDashPowerRate;
00352    <a class="code" href="classWorldModel.html#o2">pt</a>[iIndex].<a class="code" href="classHeteroPlayerSettings.html#m5">dPlayerSize</a>     = dPlayerSize;
00353    <a class="code" href="classWorldModel.html#o2">pt</a>[iIndex].<a class="code" href="classHeteroPlayerSettings.html#m6">dKickableMargin</a> = dKickableMargin;
00354    <a class="code" href="classWorldModel.html#o2">pt</a>[iIndex].<a class="code" href="classHeteroPlayerSettings.html#m7">dKickRand</a>       = dKickRand;
00355    <a class="code" href="classWorldModel.html#o2">pt</a>[iIndex].<a class="code" href="classHeteroPlayerSettings.html#m8">dExtraStamina</a>   = dExtraStamina;
00356    <a class="code" href="classWorldModel.html#o2">pt</a>[iIndex].<a class="code" href="classHeteroPlayerSettings.html#m9">dEffortMax</a>      = dEffortMax;
00357    <a class="code" href="classWorldModel.html#o2">pt</a>[iIndex].<a class="code" href="classHeteroPlayerSettings.html#m10">dEffortMin</a>      = dEffortMin;
00358    <font class="keywordflow">return</font> <font class="keyword">true</font>;
00359 }
00360 
<a name="l00369"></a><a class="code" href="classWorldModel.html#a95">00369</a> <font class="keywordtype">void</font> <a class="code" href="classWorldModel.html#a95">WorldModel::processCatchedBall</a>( <a class="code" href="SoccerTypes_8h.html#a243">RefereeMessageT</a> rm, <a class="code" href="classTime.html">Time</a> time )
00370 {
00371   <font class="keywordflow">if</font>( rm == <a class="code" href="SoccerTypes_8h.html#a243a168">REFC_GOALIE_CATCH_BALL_LEFT</a> &amp;&amp; <a class="code" href="classWorldModel.html#o10">sideSide</a> == <a class="code" href="SoccerTypes_8h.html#a246a177">SIDE_LEFT</a> )
00372     <a class="code" href="classWorldModel.html#o6">timeLastCatch</a> = time;
00373   <font class="keywordflow">else</font> <font class="keywordflow">if</font>( rm == <a class="code" href="SoccerTypes_8h.html#a243a169">REFC_GOALIE_CATCH_BALL_RIGHT</a> &amp;&amp; <a class="code" href="classWorldModel.html#o10">sideSide</a> == <a class="code" href="SoccerTypes_8h.html#a246a178">SIDE_RIGHT</a> )
00374     <a class="code" href="classWorldModel.html#o6">timeLastCatch</a> = time;
00375   <a class="code" href="classWorldModel.html#o13">Ball</a>.<a class="code" href="classDynamicObject.html#a7">setGlobalVelocity</a>( <a class="code" href="classVecPosition.html">VecPosition</a>(0,0), <a class="code" href="classWorldModel.html#a4">getCurrentTime</a>() );
00376 }
00377 
<a name="l00386"></a><a class="code" href="classWorldModel.html#a96">00386</a> <font class="keywordtype">void</font> <a class="code" href="classWorldModel.html#a96">WorldModel::processQueuedCommands</a>( <a class="code" href="classSoccerCommand.html">SoccerCommand</a> commands[],<font class="keywordtype">int</font> iCommands )
00387 {
00388   <font class="keywordflow">if</font>( iCommands &gt; <a class="code" href="SoccerTypes_8h.html#a5">MAX_COMMANDS</a> )
00389   {
00390     cerr &lt;&lt; <font class="stringliteral">"(WorldModel::setQueuedCommands) queuedCommands array cannot "</font>
00391          &lt;&lt; <font class="stringliteral">"contain so many commands!\n"</font>;
00392     <font class="keywordflow">return</font>;
00393   }
00394 
00395   <font class="comment">// put all sent commands to the array which stores queued commands.</font>
00396   <font class="keywordflow">for</font>( <font class="keywordtype">int</font> i = 0 ; i &lt; iCommands ; i ++ )
00397   {
00398     commands[i].<a class="code" href="classSoccerCommand.html#m0">time</a>                             = <a class="code" href="classWorldModel.html#a4">getCurrentTime</a>();
00399     <a class="code" href="classWorldModel.html#o24">queuedCommands</a>[(int)commands[i].<a class="code" href="classSoccerCommand.html#m1">commandType</a>] = commands[i];
00400   }
00401 }
00402 
<a name="l00410"></a><a class="code" href="classWorldModel.html#a97">00410</a> <font class="keywordtype">bool</font> <a class="code" href="classWorldModel.html#a97">WorldModel::updateAll</a>( )
00411 {
00412   <font class="keywordtype">bool</font>        bReturn            = <font class="keyword">false</font>, bUpdateAfterSee = <font class="keyword">false</font>;
00413   <font class="keywordtype">bool</font>        bUpdateAfterSense  = <font class="keyword">false</font>;
00414   <font class="keyword">static</font> <a class="code" href="classTime.html">Time</a> timeBeginInterval;
00415   <font class="keyword">static</font> <a class="code" href="classTime.html">Time</a> timePlayersCounted;  
00416   <font class="keyword">static</font> <font class="keywordtype">int</font>  iNrHolesLastTime   = 0;
00417   <font class="keyword">static</font> <a class="code" href="classTime.html">Time</a> timeLastSenseUpdate;
00418   <font class="keyword">static</font> <a class="code" href="classTime.html">Time</a> timeLastSeeUpdate;
00419 
00420   <font class="comment">// check if last update of agent was not more than one cycle ago</font>
00421   <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#o14">agentObject</a>.<a class="code" href="classObject.html#a15">getTimeGlobalPosition</a>() &lt; <a class="code" href="classWorldModel.html#a4">getCurrentTime</a>() - 1  )
00422     Log.log( 3, <font class="stringliteral">"(WorldModel::updateAfterSenseMessage) missed a sense??"</font> );
00423 
00424   <font class="comment">// call update method depending on last received message</font>
00425   <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#a10">getTimeLastSeeMessage</a>() &gt; timeLastSeeUpdate )
00426     bUpdateAfterSee = <font class="keyword">true</font>;
00427   <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#a12">getTimeLastSenseMessage</a>() &gt; timeLastSenseUpdate )
00428     bUpdateAfterSense = <font class="keyword">true</font>;
00429 
00430   <font class="comment">// rare situation: can occur that see arrives between sense and calling </font>
00431   <font class="comment">// updateAll or sense arrives between see and calling updateAll.    </font>
00432   <font class="keywordflow">if</font>( bUpdateAfterSee &amp;&amp; bUpdateAfterSense )
00433   {
00434     Log.log( 3, <font class="stringliteral">"!!! Two updates !!! "</font> );
00435     Log.log( 3, <font class="stringliteral">"see: %d sense: %d"</font>, <a class="code" href="classWorldModel.html#a10">getTimeLastSeeMessage</a>().getTime(),
00436        <a class="code" href="classWorldModel.html#a12">getTimeLastSenseMessage</a>().getTime() );
00437     <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#a10">getTimeLastSeeMessage</a>( ) == <a class="code" href="classWorldModel.html#a12">getTimeLastSenseMessage</a>() )
00438     {
00439       bReturn  = <a class="code" href="classWorldModel.html#c4">updateAfterSenseMessage</a>( );    
00440       bReturn &amp;= <a class="code" href="classWorldModel.html#c1">updateAfterSeeMessage</a>( );    
00441     }
00442     <font class="keywordflow">else</font> <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#a10">getTimeLastSeeMessage</a>( ) &lt; <a class="code" href="classWorldModel.html#a12">getTimeLastSenseMessage</a>() )
00443     {
00444       bReturn  = <a class="code" href="classWorldModel.html#c1">updateAfterSeeMessage</a>( );    
00445       bReturn &amp;= <a class="code" href="classWorldModel.html#c4">updateAfterSenseMessage</a>( );          
00446       <a class="code" href="classWorldModel.html#c9">updateRelativeFromGlobal</a>();  
00447     }
00448   
00449     timeLastSenseUpdate = <a class="code" href="classWorldModel.html#a12">getTimeLastSenseMessage</a>();            
00450      timeLastSeeUpdate = <a class="code" href="classWorldModel.html#a10">getTimeLastSeeMessage</a>();
00451   }
00452   <font class="keywordflow">else</font> <font class="keywordflow">if</font>( bUpdateAfterSee )
00453   {
00454     bReturn  = <a class="code" href="classWorldModel.html#c1">updateAfterSeeMessage</a>( );    
00455      timeLastSeeUpdate = <a class="code" href="classWorldModel.html#a10">getTimeLastSeeMessage</a>();
00456   }    
00457   <font class="keywordflow">else</font> <font class="keywordflow">if</font>( bUpdateAfterSense )
00458   {
00459     bReturn  = <a class="code" href="classWorldModel.html#c4">updateAfterSenseMessage</a>( );    
00460      timeLastSenseUpdate = <a class="code" href="classWorldModel.html#a12">getTimeLastSenseMessage</a>();
00461     <a class="code" href="classWorldModel.html#c9">updateRelativeFromGlobal</a>();      
00462   }
00463 
00464   <font class="comment">// determine number of holes in last time interval and act accordingly</font>
00465   <font class="keywordtype">int</font>    iTimeDiff = <a class="code" href="classWorldModel.html#a4">getCurrentTime</a>() - timeBeginInterval;
00466   <font class="keywordtype">double</font> dHolePerc = (double)(<a class="code" href="classWorldModel.html#m0">iNrHoles</a> - iNrHolesLastTime)/iTimeDiff*100;
00467   <font class="keywordflow">if</font>( ! <a class="code" href="classWorldModel.html#a7">isLastMessageSee</a>( ) &amp;&amp; iTimeDiff % 400 == 0 &amp;&amp; dHolePerc &gt; 1.0 &amp;&amp;
00468       <a class="code" href="classWorldModel.html#o1">PS</a>-&gt;<a class="code" href="classPlayerSettings.html#a33">getFractionWaitSeeEnd</a>() &gt; 0.70 )
00469   {
00470     <a class="code" href="classWorldModel.html#o1">PS</a>-&gt;<a class="code" href="classPlayerSettings.html#a34">setFractionWaitSeeEnd</a>( <a class="code" href="classWorldModel.html#o1">PS</a>-&gt;<a class="code" href="classPlayerSettings.html#a33">getFractionWaitSeeEnd</a>() - 0.05 );
00471     timeBeginInterval = <a class="code" href="classWorldModel.html#a4">getCurrentTime</a>();
00472     cerr &lt;&lt; <font class="stringliteral">"Lowered send time to "</font> &lt;&lt; <a class="code" href="classWorldModel.html#o1">PS</a>-&gt;<a class="code" href="classPlayerSettings.html#a33">getFractionWaitSeeEnd</a>() &lt;&lt;
00473             <font class="stringliteral">" for player number "</font>   &lt;&lt; <a class="code" href="classWorldModel.html#a14">getPlayerNumber</a>()           &lt;&lt;
00474             <font class="stringliteral">"; nr of holes is "</font>&lt;&lt; dHolePerc &lt;&lt; <font class="stringliteral">"%"</font> &lt;&lt; endl;
00475     iNrHolesLastTime   = <a class="code" href="classWorldModel.html#m0">iNrHoles</a>;
00476   }
00477 
00478 
00479   <font class="comment">// store some statistics about number of players seen each cycle</font>
00480   <font class="keywordflow">if</font>( bUpdateAfterSee == <font class="keyword">true</font>  &amp;&amp; ! <a class="code" href="classWorldModel.html#a6">isTimeStopped</a>() &amp;&amp;
00481       <a class="code" href="classWorldModel.html#a4">getCurrentTime</a>() != timePlayersCounted )
00482   {
00483     <a class="code" href="classWorldModel.html#m2">iNrTeammatesSeen</a> += <a class="code" href="classWorldModel.html#a113">getNrInSetInRectangle</a>( <a class="code" href="SoccerTypes_8h.html#a241a115">OBJECT_SET_TEAMMATES</a> );
00484     <a class="code" href="classWorldModel.html#m1">iNrOpponentsSeen</a> += <a class="code" href="classWorldModel.html#a113">getNrInSetInRectangle</a>( <a class="code" href="SoccerTypes_8h.html#a241a116">OBJECT_SET_OPPONENTS</a> );
00485     timePlayersCounted = <a class="code" href="classWorldModel.html#a4">getCurrentTime</a>();
00486   }
00487      
00488   <font class="comment">// log specific information when log level is set</font>
00489   <font class="keywordflow">if</font>( Log.isInLogLevel( 456 ) )
00490     <a class="code" href="classWorldModel.html#a158">logObjectInformation</a>( 456, <a class="code" href="classWorldModel.html#a34">getAgentObjectType</a>() );
00491 
00492   <font class="keywordflow">if</font>( bUpdateAfterSee == <font class="keyword">true</font> )
00493     Log.logWithTime( 3, <font class="stringliteral">"  finished update_all see; start determining action"</font> );
00494   <font class="keywordflow">if</font>( bUpdateAfterSense == <font class="keyword">true</font> )
00495     Log.logWithTime( 3, <font class="stringliteral">"  finished update_all sense; start determining action"</font> );
00496   Log.log( 3, <font class="stringliteral">"global pos: (%f, %f)"</font>, <a class="code" href="classWorldModel.html#a43">getAgentGlobalPosition</a>().getX(), 
00497               <a class="code" href="classWorldModel.html#a43">getAgentGlobalPosition</a>().getY() );