worldmodel_8h-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 472 行 · 第 1/5 页

00335                                             <font class="keywordtype">double</font>         dPlayerDecay,
00336                                             <font class="keywordtype">double</font>         dInertiaMoment,
00337                                             <font class="keywordtype">double</font>         dDashPowerRate,
00338                                             <font class="keywordtype">double</font>         dPlayerSize,
00339                                             <font class="keywordtype">double</font>         dKickableMargin,
00340                                             <font class="keywordtype">double</font>         dKickRand,
00341                                             <font class="keywordtype">double</font>         dExtraStamina,
00342                                             <font class="keywordtype">double</font>         dEffortMax,
00343                                             <font class="keywordtype">double</font>         dEffortMin         );
00344   <font class="keywordtype">void</font>         <a class="code" href="classWorldModel.html#a95">processCatchedBall</a>         ( <a class="code" href="SoccerTypes_8h.html#a243">RefereeMessageT</a> rm,
00345                                             <a class="code" href="classTime.html">Time</a>           time               );
00346   <font class="keywordtype">void</font>         <a class="code" href="classWorldModel.html#a96">processQueuedCommands</a>      ( <a class="code" href="classSoccerCommand.html">SoccerCommand</a>  commands[],
00347                                             <font class="keywordtype">int</font>            iCommands          );
00348 
00349   <font class="comment">// update methods (defined in WorldModelUpdate.C)</font>
00350   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#a97">updateAll</a>                  (                                   );
00351 
00352 <font class="keyword">private</font>:
00353   <font class="comment">// update with new visual information</font>
00354   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c1">updateAfterSeeMessage</a>      (                                   );
00355   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c2">updateAgentObjectAfterSee</a>  (                                   );
00356   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c3">updateDynamicObjectAfterSee</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>        o                  );
00357 
00358   <font class="comment">// update with prediction for new cycle</font>
00359   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c4">updateAfterSenseMessage</a>    (                                   );
00360   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c5">updateAgentAndBallAfterSense</a>(                                  );
00361   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c6">updateBallAfterKick</a>        ( <font class="keywordtype">double</font>         dPower,
00362                                             <a class="code" href="Geometry_8h.html#a2">AngDeg</a>         ang                );
00363   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c7">updateDynamicObjectForNextCycle</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>    o,
00364                                             <font class="keywordtype">int</font>            iCycle             );
00365   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c8">updateBallForCollision</a>     (                                   );
00366 
00367   <font class="comment">// update from relative to global and vice versa</font>
00368   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c9">updateRelativeFromGlobal</a>   (                                   );
00369   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c10">updateObjectRelativeFromGlobal</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>     o                  );
00370 
00371   <font class="comment">// methods to determine agent state from perceived information</font>
00372   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c11">calculateStateAgent</a>        ( <a class="code" href="classVecPosition.html">VecPosition</a>    *posGlobal,
00373                                             <a class="code" href="classVecPosition.html">VecPosition</a>    *velGlobal,
00374                                             <a class="code" href="Geometry_8h.html#a2">AngDeg</a>         *angGlobal         );
00375   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c12">calculateStateAgent2</a>       ( <a class="code" href="classVecPosition.html">VecPosition</a>    *posGlobal,
00376                                             <a class="code" href="classVecPosition.html">VecPosition</a>    *velGlobal,
00377                                             <a class="code" href="Geometry_8h.html#a2">AngDeg</a>         *angGlobal         );
00378   <font class="keywordtype">void</font>         <a class="code" href="classWorldModel.html#c13">initParticlesAgent</a>         ( <a class="code" href="Geometry_8h.html#a2">AngDeg</a>         angGlobal          );
00379   <font class="keywordtype">void</font>         <a class="code" href="classWorldModel.html#c13">initParticlesAgent</a>         ( <a class="code" href="classVecPosition.html">VecPosition</a>    posInitital        );
00380   <font class="keywordtype">int</font>          <a class="code" href="classWorldModel.html#c15">checkParticlesAgent</a>        ( <a class="code" href="Geometry_8h.html#a2">AngDeg</a>         angGlobalNeck      );
00381   <font class="keywordtype">void</font>         <a class="code" href="classWorldModel.html#c16">updateParticlesAgent</a>       ( <a class="code" href="classVecPosition.html">VecPosition</a>    vel,
00382                                             <font class="keywordtype">bool</font>           bAfterSense        );
00383   <a class="code" href="classVecPosition.html">VecPosition</a>  <a class="code" href="classWorldModel.html#c17">averageParticles</a>           ( <a class="code" href="classVecPosition.html">VecPosition</a>    posArray[],
00384                                             <font class="keywordtype">int</font>            iLength            );
00385   <font class="keywordtype">void</font>         <a class="code" href="classWorldModel.html#c18">resampleParticlesAgent</a>     ( <font class="keywordtype">int</font>            iLeft              );
00386   <a class="code" href="classVecPosition.html">VecPosition</a>  <a class="code" href="classWorldModel.html#c19">calculatePosAgentWith2Flags</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>        objFlag1,
00387                                             <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>        objFlag2           );
00388   <a class="code" href="Geometry_8h.html#a2">AngDeg</a>       <a class="code" href="classWorldModel.html#c20">calculateAngleAgentWithPos</a> ( <a class="code" href="classVecPosition.html">VecPosition</a>    pos                );
00389 
00390 
00391   <font class="comment">// methods to determine ball state from perceived information</font>
00392   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c21">calculateStateBall</a>         ( <a class="code" href="classVecPosition.html">VecPosition</a>    *posGlobal,
00393                                             <a class="code" href="classVecPosition.html">VecPosition</a>    *velGlobal         );
00394   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c22">calculateStateBall2</a>        ( <a class="code" href="classVecPosition.html">VecPosition</a>    *posGlobal,
00395                                             <a class="code" href="classVecPosition.html">VecPosition</a>    *velGlobal         );
00396   <font class="keywordtype">void</font>         <a class="code" href="classWorldModel.html#c23">initParticlesBall</a>         (  <a class="code" href="classVecPosition.html">VecPosition</a>    posArray[],
00397                                             <a class="code" href="classVecPosition.html">VecPosition</a>    velArray[],
00398                                             <font class="keywordtype">int</font>            iLength            );
00399   <font class="keywordtype">void</font>         <a class="code" href="classWorldModel.html#c24">checkParticlesBall</a>        (  <a class="code" href="classVecPosition.html">VecPosition</a>    posArray[],
00400                                             <a class="code" href="classVecPosition.html">VecPosition</a>    velArray[],
00401                                             <font class="keywordtype">int</font>            iLength,
00402                                             <font class="keywordtype">int</font>            *iNrLeft           );
00403   <font class="keywordtype">void</font>         <a class="code" href="classWorldModel.html#c25">updateParticlesBall</a>       (  <a class="code" href="classVecPosition.html">VecPosition</a>    posArray[],
00404                                             <a class="code" href="classVecPosition.html">VecPosition</a>    velArray[],
00405                                             <font class="keywordtype">int</font>            iLength,
00406                                             <font class="keywordtype">double</font>         dPower,
00407                                             <a class="code" href="Geometry_8h.html#a2">AngDeg</a>         ang                );
00408   <font class="keywordtype">void</font>         <a class="code" href="classWorldModel.html#c26">resampleParticlesBall</a>      ( <a class="code" href="classVecPosition.html">VecPosition</a>    posArray[],
00409                                             <a class="code" href="classVecPosition.html">VecPosition</a>    velArray[],
00410                                             <font class="keywordtype">int</font>            iLength,
00411                                             <font class="keywordtype">int</font>            iLeft              );
00412   <a class="code" href="classVecPosition.html">VecPosition</a>  <a class="code" href="classWorldModel.html#c27">calculateVelocityDynamicObject</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>     o                  );
00413 
00414 
00415   <font class="comment">// methods to determine player state from perceived information</font>
00416   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c28">calculateStatePlayer</a>       ( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>        o,
00417                                             <a class="code" href="classVecPosition.html">VecPosition</a>    *posGlobal,
00418                                             <a class="code" href="classVecPosition.html">VecPosition</a>    *velGlobal         );
00419 
00420   <font class="comment">// methods to calculate noise range (quantized noise)</font>
00421   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c29">getMinMaxDistQuantizeValue</a> ( <font class="keywordtype">double</font>         dInput,
00422                                             <font class="keywordtype">double</font>         *dMin,
00423                                             <font class="keywordtype">double</font>         *dMax,
00424                                             <font class="keywordtype">double</font>         x1,
00425                                             <font class="keywordtype">double</font>         x2                 );
00426   <font class="keywordtype">bool</font>         <a class="code" href="classWorldModel.html#c30">getMinMaxDirChange</a>         ( <font class="keywordtype">double</font>         dOutput,
00427                                             <font class="keywordtype">double</font>         *dMin,
00428                                             <font class="keywordtype">double</font>         *dMax,
00429                                             <font class="keywordtype">double</font>         x1                 );