worldmodel_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 685 行 · 第 1/5 页

00584   <font class="keywordflow">return</font> <a class="code" href="classWorldModel.html#o14">agentObject</a>.<a class="code" href="classAgentObject.html#a7">getViewQuality</a>();
00585 }
00586 
<a name="l00591"></a><a class="code" href="classWorldModel.html#a46">00591</a> <font class="keywordtype">double</font> <a class="code" href="classWorldModel.html#a46">WorldModel::getAgentViewFrequency</a>( )<font class="keyword"> const</font>
00592 <font class="keyword"></font>{
00593   <font class="keywordtype">double</font> dViewQualityFactor = 0.0;
00594   <font class="keywordtype">double</font> dViewWidthFactor   = 0.0;
00595 
00596   <font class="keywordflow">switch</font>( <a class="code" href="classWorldModel.html#a44">getAgentViewAngle</a>() )
00597   {
00598     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a244a170">VA_NARROW</a>:  dViewWidthFactor   = 0.5; <font class="keywordflow">break</font>;
00599     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a244a171">VA_NORMAL</a>:  dViewWidthFactor   = 1.0; <font class="keywordflow">break</font>;
00600     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a244a172">VA_WIDE</a>:    dViewWidthFactor   = 2.0; <font class="keywordflow">break</font>;
00601     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a244a173">VA_ILLEGAL</a>:
00602     <font class="keywordflow">default</font>:         dViewWidthFactor   = 0.0; <font class="keywordflow">break</font>;
00603   }
00604 
00605   <font class="keywordflow">switch</font>( <a class="code" href="classWorldModel.html#a45">getAgentViewQuality</a>() )
00606   {
00607     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a245a175">VQ_LOW</a>:     dViewQualityFactor = 0.5; <font class="keywordflow">break</font>;
00608     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a245a174">VQ_HIGH</a>:    dViewQualityFactor = 1.0; <font class="keywordflow">break</font>;
00609     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a245a176">VQ_ILLEGAL</a>:
00610     <font class="keywordflow">default</font>:         dViewQualityFactor = 0.0; <font class="keywordflow">break</font>;
00611   }
00612 
00613   <font class="keywordflow">return</font> dViewQualityFactor*dViewWidthFactor;
00614 }
00615 
<a name="l00620"></a><a class="code" href="classWorldModel.html#a47">00620</a> <a class="code" href="classVecPosition.html">VecPosition</a>  <a class="code" href="classWorldModel.html#a47">WorldModel::getBallPos</a>()
00621 {
00622   <font class="keywordflow">return</font> <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a> );
00623 }
00624 
<a name="l00627"></a><a class="code" href="classWorldModel.html#a48">00627</a> <font class="keywordtype">double</font> <a class="code" href="classWorldModel.html#a48">WorldModel::getBallSpeed</a>()
00628 {
00629   <font class="keywordflow">return</font> <a class="code" href="classWorldModel.html#o13">Ball</a>.<a class="code" href="classDynamicObject.html#a8">getGlobalVelocity</a>().<a class="code" href="classVecPosition.html#a32">getMagnitude</a>();
00630 }
00631 
<a name="l00634"></a><a class="code" href="classWorldModel.html#a49">00634</a> <a class="code" href="Geometry_8h.html#a2">AngDeg</a> <a class="code" href="classWorldModel.html#a49">WorldModel::getBallDirection</a>()
00635 {
00636   <font class="keywordflow">return</font> <a class="code" href="classWorldModel.html#o13">Ball</a>.<a class="code" href="classDynamicObject.html#a8">getGlobalVelocity</a>().<a class="code" href="classVecPosition.html#a33">getDirection</a>();
00637 }
00638 
<a name="l00643"></a><a class="code" href="classWorldModel.html#a50">00643</a> <a class="code" href="classTime.html">Time</a> <a class="code" href="classWorldModel.html#a50">WorldModel::getTimeGlobalPosition</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o )
00644 {
00645   <a class="code" href="classPlayerObject.html">PlayerObject</a> *object = (<a class="code" href="classPlayerObject.html">PlayerObject</a>*) <a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );
00646   <font class="keywordflow">if</font>( object != NULL )
00647     <font class="keywordflow">return</font> object-&gt;<a class="code" href="classObject.html#a15">getTimeGlobalPosition</a>();
00648   <font class="keywordflow">return</font> <a class="code" href="SoccerTypes_8h.html#a22">UnknownTime</a>;
00649 }
00650 
00651 
<a name="l00658"></a><a class="code" href="classWorldModel.html#a51">00658</a> <a class="code" href="classVecPosition.html">VecPosition</a> <a class="code" href="classWorldModel.html#a51">WorldModel::getGlobalPosition</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o )
00659 {
00660   <a class="code" href="classObject.html">Object</a> *object = <a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );
00661   <font class="keywordflow">if</font>( object != NULL )
00662   {
00663     <font class="keywordflow">if</font>( <a class="code" href="classSoccerTypes.html#d3">SoccerTypes::isFlag</a>( o ) || <a class="code" href="classSoccerTypes.html#d5">SoccerTypes::isGoal</a>( o ) )
00664       <font class="keywordflow">return</font> <a class="code" href="classSoccerTypes.html#d17">SoccerTypes::getGlobalPositionFlag</a>(o,<a class="code" href="classWorldModel.html#a16">getSide</a>(),<a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a4">getGoalWidth</a>());
00665     <font class="keywordflow">else</font>
00666       <font class="keywordflow">return</font> object-&gt;<a class="code" href="classObject.html#a13">getGlobalPosition</a>();
00667   }
00668   <font class="keywordflow">return</font> <a class="code" href="classVecPosition.html">VecPosition</a>( <a class="code" href="SoccerTypes_8h.html#a19">UnknownDoubleValue</a>, <a class="code" href="SoccerTypes_8h.html#a19">UnknownDoubleValue</a>);
00669 }
00670 
<a name="l00675"></a><a class="code" href="classWorldModel.html#a52">00675</a> <a class="code" href="classTime.html">Time</a> <a class="code" href="classWorldModel.html#a52">WorldModel::getTimeGlobalVelocity</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o )
00676 {
00677   <a class="code" href="classPlayerObject.html">PlayerObject</a> *object = (<a class="code" href="classPlayerObject.html">PlayerObject</a>*) <a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );
00678   <font class="keywordflow">if</font>( object != NULL )
00679     <font class="keywordflow">return</font> object-&gt;<a class="code" href="classDynamicObject.html#a11">getTimeGlobalVelocity</a>();
00680   <font class="keywordflow">return</font> <a class="code" href="SoccerTypes_8h.html#a22">UnknownTime</a>;
00681 }
00682 
00683 
<a name="l00689"></a><a class="code" href="classWorldModel.html#a53">00689</a> <a class="code" href="classVecPosition.html">VecPosition</a> <a class="code" href="classWorldModel.html#a53">WorldModel::getGlobalVelocity</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o )
00690 {
00691   <a class="code" href="classDynamicObject.html">DynamicObject</a> *object = (<a class="code" href="classDynamicObject.html">DynamicObject</a>*)<a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );
00692   <font class="keywordflow">if</font>( object != NULL )
00693     <font class="keywordflow">return</font> object-&gt;<a class="code" href="classDynamicObject.html#a8">getGlobalVelocity</a>(  );
00694   <font class="keywordflow">return</font> <a class="code" href="classVecPosition.html">VecPosition</a>( <a class="code" href="SoccerTypes_8h.html#a19">UnknownDoubleValue</a>, <a class="code" href="SoccerTypes_8h.html#a19">UnknownDoubleValue</a> );
00695 
00696 }
00697 
<a name="l00703"></a><a class="code" href="classWorldModel.html#a54">00703</a> <font class="keywordtype">double</font> <a class="code" href="classWorldModel.html#a54">WorldModel::getRelativeDistance</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o )
00704 {
00705   <a class="code" href="classObject.html">Object</a> *object = <a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );
00706   <font class="keywordflow">if</font>( object != NULL )
00707     <font class="keywordflow">return</font> object-&gt;<a class="code" href="classObject.html#a3">getRelativeDistance</a>();
00708   <font class="keywordflow">return</font> <a class="code" href="SoccerTypes_8h.html#a19">UnknownDoubleValue</a>;
00709 }
00710 
<a name="l00716"></a><a class="code" href="classWorldModel.html#a55">00716</a> <a class="code" href="classVecPosition.html">VecPosition</a>  <a class="code" href="classWorldModel.html#a55">WorldModel::getRelativePosition</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o )
00717 {
00718   <a class="code" href="classObject.html">Object</a> *object = <a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );
00719   <font class="keywordflow">if</font>( object != NULL )
00720     <font class="keywordflow">return</font> object-&gt;<a class="code" href="classObject.html#a9">getRelativePosition</a>();
00721   <font class="keywordflow">return</font> <a class="code" href="classVecPosition.html">VecPosition</a>(<a class="code" href="SoccerTypes_8h.html#a19">UnknownDoubleValue</a>, <a class="code" href="SoccerTypes_8h.html#a19">UnknownDoubleValue</a>);
00722 }
00723 
<a name="l00734"></a><a class="code" href="classWorldModel.html#a56">00734</a> <a class="code" href="Geometry_8h.html#a2">AngDeg</a> <a class="code" href="classWorldModel.html#a56">WorldModel::getRelativeAngle</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o, <font class="keywordtype">bool</font> bWithBody )
00735 {
00736   <a class="code" href="classObject.html">Object</a> *object = <a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );
00737   <font class="keywordtype">double</font> dBody   = 0.0;
00738 
00739   <font class="keywordflow">if</font>( object != NULL )
00740   {
00741     <font class="keywordflow">if</font>( bWithBody == <font class="keyword">true</font> )
00742       dBody = <a class="code" href="classWorldModel.html#a36">getAgentBodyAngleRelToNeck</a>();
00743     <font class="keywordflow">return</font> <a class="code" href="classVecPosition.html#d1">VecPosition::normalizeAngle</a>( object-&gt;<a class="code" href="classObject.html#a2">getRelativeAngle</a>() - dBody );
00744   }
00745   <font class="keywordflow">return</font> <a class="code" href="SoccerTypes_8h.html#a19">UnknownDoubleValue</a>;
00746 }
00747 
<a name="l00752"></a><a class="code" href="classWorldModel.html#a57">00752</a> <a class="code" href="classTime.html">Time</a> <a class="code" href="classWorldModel.html#a57">WorldModel::getTimeGlobalAngles</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o )
00753 {
00754   <a class="code" href="classPlayerObject.html">PlayerObject</a> *object = (<a class="code" href="classPlayerObject.html">PlayerObject</a>*) <a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );
00755   <font class="keywordflow">if</font>( object != NULL )
00756     <font class="keywordflow">return</font> object-&gt;<a class="code" href="classPlayerObject.html#a18">getTimeGlobalAngles</a>();
00757   <font class="keywordflow">return</font> <a class="code" href="classTime.html">Time</a>( -1, 0);
00758 }
00759 
<a name="l00765"></a><a class="code" href="classWorldModel.html#a58">00765</a> <a class="code" href="Geometry_8h.html#a2">AngDeg</a> <a class="code" href="classWorldModel.html#a58">WorldModel::getGlobalBodyAngle</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o )
00766 {
00767   <a class="code" href="classPlayerObject.html">PlayerObject</a> *object = (<a class="code" href="classPlayerObject.html">PlayerObject</a>*) <a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );
00768   <font class="keywordflow">if</font>( object != NULL )
00769     <font class="keywordflow">return</font> object-&gt;<a class="code" href="classPlayerObject.html#a10">getGlobalBodyAngle</a>();
00770   <font class="keywordflow">return</font> <a class="code" href="SoccerTypes_8h.html#a20">UnknownAngleValue</a>;
00771 }
00772 
<a name="l00778"></a><a class="code" href="classWorldModel.html#a59">00778</a> <a class="code" href="Geometry_8h.html#a2">AngDeg</a> <a class="code" href="classWorldModel.html#a59">WorldModel::getGlobalNeckAngle</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o )
00779 {
00780   <a class="code" href="classPlayerObject.html">PlayerObject</a> *object = (<a class="code" href="classPlayerObject.html">PlayerObject</a>*) <a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );
00781   <font class="keywordflow">if</font>( object != NULL )
00782     <font class="keywordflow">return</font> object-&gt;<a class="code" href="classPlayerObject.html#a14">getGlobalNeckAngle</a>();
00783   <font class="keywordflow">return</font> <a class="code" href="SoccerTypes_8h.html#a20">UnknownAngleValue</a>;
00784 }
00785