basicplayer_8c-source.html

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00179   <font class="comment">// do this by making angle in directon body and back of body and check</font>
00180   <font class="comment">// whether estimated ball prediction lies between these two angles</font>
00181   <font class="comment">// only change sign when not searched in previous cycles, otherwise could</font>
00182   <font class="comment">// turn left, right, left, right and never find ball</font>
00183   <a class="code" href="Geometry_8h.html#a2">AngDeg</a> angBody = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a38">getAgentGlobalBodyAngle</a>();
00184   <a class="code" href="Geometry_8h.html#a2">AngDeg</a> angMax  = <a class="code" href="classVecPosition.html#d1">VecPosition::normalizeAngle</a>( angBody + 180 );
00185   <a class="code" href="Geometry_8h.html#a2">AngDeg</a> angBall = (<a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a47">getBallPos</a>()-
00186                                   <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a43">getAgentGlobalPosition</a>()).getDirection();
00187 
00188   <font class="keywordflow">if</font>( abs( <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a4">getCurrentTime</a>() - timeLastSearch ) &gt; 3 )
00189     iSign = <a class="code" href="Geometry_8h.html#a12">isAngInInterval</a>( angBall, angBody, angMax ) ? 1: -1;
00190   timeLastSearch = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a4">getCurrentTime</a>();
00191 
00192   <font class="keywordflow">if</font>( <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a4">getCurrentTime</a>() != <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a10">getTimeLastSeeMessage</a>() )
00193     <font class="keywordflow">return</font> <a class="code" href="classSoccerCommand.html">SoccerCommand</a>( <a class="code" href="SoccerTypes_8h.html#a247a182">CMD_TURN</a>, iSign * ang );
00194   <font class="keywordflow">return</font> <a class="code" href="classSoccerCommand.html">SoccerCommand</a>( <a class="code" href="SoccerTypes_8h.html#a247a182">CMD_TURN</a>, iSign * ang );
00195 }
00196 
00197 
<a name="l00210"></a><a class="code" href="classBasicPlayer.html#b5">00210</a> <a class="code" href="classSoccerCommand.html">SoccerCommand</a> <a class="code" href="classBasicPlayer.html#b5">BasicPlayer::dashToPoint</a>( <a class="code" href="classVecPosition.html">VecPosition</a> pos )
00211 {
00212   <font class="keywordtype">double</font> dDashPower = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a151">getPowerForDash</a>(
00213                                  pos - <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a43">getAgentGlobalPosition</a>(),
00214                                  <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a38">getAgentGlobalBodyAngle</a>(),
00215                                  <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a41">getAgentGlobalVelocity</a>(),
00216                                  <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a40">getAgentEffort</a>()                );
00217   <font class="keywordflow">return</font> <a class="code" href="classSoccerCommand.html">SoccerCommand</a>( <a class="code" href="SoccerTypes_8h.html#a247a181">CMD_DASH</a>, dDashPower );
00218 
00219 }
00220 
<a name="l00233"></a><a class="code" href="classBasicPlayer.html#b6">00233</a> <a class="code" href="classSoccerCommand.html">SoccerCommand</a> <a class="code" href="classBasicPlayer.html#b6">BasicPlayer::freezeBall</a>( )
00234 {
00235   <font class="comment">// determine power needed to kick the ball to compensate for current speed</font>
00236   <font class="comment">// get opposite direction (current direction + 180) relative to body</font>
00237   <font class="comment">// and make the kick command.</font>
00238 
00239   <font class="keywordtype">double</font> dPower = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a144">getKickPowerForSpeed</a>( <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a48">getBallSpeed</a>() );
00240   <font class="keywordflow">if</font>( dPower &gt; <a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a94">getMaxPower</a>() )
00241   {
00242     Log.log( 552, <font class="stringliteral">"%d: freeze ball has to much power"</font>, <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a5">getCurrentCycle</a>() );
00243     dPower = (double)<a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a94">getMaxPower</a>();
00244   }
00245   <font class="keywordtype">double</font> dAngle = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a49">getBallDirection</a>() + 180 - <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a38">getAgentGlobalBodyAngle</a>();
00246   dAngle        = <a class="code" href="classVecPosition.html#d1">VecPosition::normalizeAngle</a>( dAngle );
00247   <font class="keywordflow">return</font> <a class="code" href="classSoccerCommand.html">SoccerCommand</a>( <a class="code" href="SoccerTypes_8h.html#a247a186">CMD_KICK</a>, dPower, dAngle );
00248 }
00249 
<a name="l00269"></a><a class="code" href="classBasicPlayer.html#b7">00269</a> <a class="code" href="classSoccerCommand.html">SoccerCommand</a> <a class="code" href="classBasicPlayer.html#b7">BasicPlayer::kickBallCloseToBody</a>( <a class="code" href="Geometry_8h.html#a2">AngDeg</a> ang )
00270 {
00271   <a class="code" href="Geometry_8h.html#a2">AngDeg</a>      angBody    = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a38">getAgentGlobalBodyAngle</a>();
00272   <a class="code" href="classVecPosition.html">VecPosition</a> posAgent   = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a108">predictAgentPos</a>( 1, 0 );
00273   <font class="keywordtype">double</font>      dDist      = <a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a6">getPlayerSize</a>() +
00274                            <a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a58">getBallSize</a>()   +
00275                            <a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a76">getKickableMargin</a>()/6.0;
00276   <a class="code" href="Geometry_8h.html#a2">AngDeg</a>      angGlobal  = <a class="code" href="classVecPosition.html#d1">VecPosition::normalizeAngle</a>( angBody + ang );
00277   <a class="code" href="classVecPosition.html">VecPosition</a> posDesBall = posAgent   + <a class="code" href="classVecPosition.html">VecPosition</a>( dDist, angGlobal, POLAR );
00278   <a class="code" href="classVecPosition.html">VecPosition</a> vecDesired = posDesBall - <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a47">getBallPos</a>();
00279   <a class="code" href="classVecPosition.html">VecPosition</a> vecShoot   = vecDesired - <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a53">getGlobalVelocity</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a> );
00280   <font class="keywordtype">double</font>      dPower     = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a144">getKickPowerForSpeed</a>( vecShoot.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>() );
00281   <a class="code" href="Geometry_8h.html#a2">AngDeg</a>      angActual  = vecShoot.<a class="code" href="classVecPosition.html#a33">getDirection</a>() - angBody;
00282               angActual  = <a class="code" href="classVecPosition.html#d1">VecPosition::normalizeAngle</a>( angActual );
00283 
00284   <font class="keywordflow">if</font>( dPower &gt; <a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a94">getMaxPower</a>() )
00285   {
00286     Log.log( 500, <font class="stringliteral">"kickBallCloseToBody: cannot compensate for ball speed, freeze"</font>);
00287     Log.log( 101, <font class="stringliteral">"kickBallCloseToBody: cannot compensate for ball speed, freeze"</font>);    
00288     <font class="keywordflow">return</font> <a class="code" href="classBasicPlayer.html#b6">freezeBall</a>();
00289   }
00290   <font class="keywordflow">else</font>
00291     Log.log( 101, <font class="stringliteral">"(kick %f %f), vecDesired (%f,%f)"</font>, dPower, angActual,
00292     vecDesired.<a class="code" href="classVecPosition.html#a26">getX</a>(), vecDesired.<a class="code" href="classVecPosition.html#a28">getY</a>() );
00293   <font class="keywordflow">return</font> <a class="code" href="classSoccerCommand.html">SoccerCommand</a>( <a class="code" href="SoccerTypes_8h.html#a247a186">CMD_KICK</a>, dPower, angActual );
00294 }
00295 
<a name="l00314"></a><a class="code" href="classBasicPlayer.html#b8">00314</a> <a class="code" href="classSoccerCommand.html">SoccerCommand</a> <a class="code" href="classBasicPlayer.html#b8">BasicPlayer::accelerateBallToVelocity</a>( <a class="code" href="classVecPosition.html">VecPosition</a> velDes )
00315 {
00316   <a class="code" href="Geometry_8h.html#a2">AngDeg</a>      angBody  = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a38">getAgentGlobalBodyAngle</a>();
00317   <a class="code" href="classVecPosition.html">VecPosition</a> velBall  = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a53">getGlobalVelocity</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a> );
00318   <a class="code" href="classVecPosition.html">VecPosition</a> accDes   = velDes - velBall;
00319   <font class="keywordtype">double</font>      dPower;
00320   <font class="keywordtype">double</font>      angActual;
00321 
00322   <font class="comment">// if acceleration can be reached, create shooting vector</font>
00323   <font class="keywordflow">if</font>( accDes.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>() &lt; <a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a68">getBallAccelMax</a>() )
00324   {
00325     dPower    = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a144">getKickPowerForSpeed</a>   ( accDes.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>() );
00326     angActual = <a class="code" href="classVecPosition.html#d1">VecPosition::normalizeAngle</a>( accDes.<a class="code" href="classVecPosition.html#a33">getDirection</a>() - angBody );
00327     <font class="keywordflow">if</font>( dPower &lt;= <a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a94">getMaxPower</a>() )
00328       <font class="keywordflow">return</font> <a class="code" href="classSoccerCommand.html">SoccerCommand</a>( <a class="code" href="SoccerTypes_8h.html#a247a186">CMD_KICK</a>, dPower, angActual );
00329   }
00330 
00331   <font class="comment">// else determine vector that is in direction 'velDes' (magnitude is lower)</font>
00332          dPower    = <a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a94">getMaxPower</a>();
00333   <font class="keywordtype">double</font> dSpeed    = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a143">getActualKickPowerRate</a>() * dPower;
00334   <font class="keywordtype">double</font> tmp       = velBall.<a class="code" href="classVecPosition.html#a47">rotate</a>(-velDes.<a class="code" href="classVecPosition.html#a33">getDirection</a>()).<a class="code" href="classVecPosition.html#a28">getY</a>();
00335          angActual = velDes.<a class="code" href="classVecPosition.html#a33">getDirection</a>() - <a class="code" href="Geometry_8h.html#a11">asinDeg</a>( tmp / dSpeed );
00336          angActual = <a class="code" href="classVecPosition.html#d1">VecPosition::normalizeAngle</a>( angActual - angBody );
00337 
00338   <font class="keywordflow">return</font> <a class="code" href="classSoccerCommand.html">SoccerCommand</a>( <a class="code" href="SoccerTypes_8h.html#a247a186">CMD_KICK</a>, dPower, angActual );
00339 }
00340 
<a name="l00349"></a><a class="code" href="classBasicPlayer.html#b9">00349</a> <a class="code" href="classSoccerCommand.html">SoccerCommand</a> <a class="code" href="classBasicPlayer.html#b9">BasicPlayer::catchBall</a>()
00350 {
00351   <font class="comment">// true means returned angle is relative to body instead of neck</font>
00352   <font class="keywordflow">return</font> <a class="code" href="classSoccerCommand.html">SoccerCommand</a>( <a class="code" href="SoccerTypes_8h.html#a247a185">CMD_CATCH</a>, <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a56">getRelativeAngle</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a>, <font class="keyword">true</font> ));
00353 }