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

<a name="l00790"></a><a class="code" href="classWorldModel.html#a60">00790</a> <a class="code" href="Geometry_8h.html#a2">AngDeg</a> <a class="code" href="classWorldModel.html#a60">WorldModel::getGlobalAngle</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o )
00791 {
00792   <font class="keywordflow">if</font>( <a class="code" href="classSoccerTypes.html#d4">SoccerTypes::isLine</a>( o ) )
00793     <font class="keywordflow">return</font> <a class="code" href="classSoccerTypes.html#d18">SoccerTypes::getGlobalAngleLine</a>( o, <a class="code" href="classWorldModel.html#a16">getSide</a>() );
00794   <font class="keywordflow">return</font> <a class="code" href="SoccerTypes_8h.html#a20">UnknownAngleValue</a>;
00795 }
00796 
00797 
<a name="l00803"></a><a class="code" href="classWorldModel.html#a61">00803</a> <font class="keywordtype">double</font> <a class="code" href="classWorldModel.html#a61">WorldModel::getConfidence</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o)
00804 {
00805   <a class="code" href="classObject.html">Object</a> *object = <a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );
00806   <font class="keywordflow">if</font>( object != NULL )
00807     <font class="keywordflow">return</font> object-&gt;<a class="code" href="classObject.html#a4">getConfidence</a>( <a class="code" href="classWorldModel.html#a4">getCurrentTime</a>() );
00808   <font class="keywordflow">return</font> 0.0;
00809 }
00810 
<a name="l00818"></a><a class="code" href="classWorldModel.html#a62">00818</a> <font class="keywordtype">bool</font> <a class="code" href="classWorldModel.html#a62">WorldModel::isKnownPlayer</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o )
00819 {
00820   <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 );
00821   <font class="keywordflow">if</font>( object != NULL  )
00822     <font class="keywordflow">return</font> object-&gt;<a class="code" href="classPlayerObject.html#a4">getIsKnownPlayer</a>();
00823   <font class="keywordflow">return</font> <font class="keyword">false</font>;
00824 
00825 }
00826 
<a name="l00835"></a><a class="code" href="classWorldModel.html#a63">00835</a> <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> <a class="code" href="classWorldModel.html#a63">WorldModel::getOppGoalieType</a>()
00836 {
00837   <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> objOppMaxX = <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00838   <font class="keywordtype">double</font>  x = -100.0, y = <a class="code" href="SoccerTypes_8h.html#a19">UnknownDoubleValue</a>;
00839 
00840   <font class="keywordflow">for</font>( <font class="keywordtype">int</font> i = 0; i &lt; <a class="code" href="SoccerTypes_8h.html#a1">MAX_OPPONENTS</a>; i++ )
00841   {
00842     <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#a135">isConfidenceGood</a>( <a class="code" href="classWorldModel.html#o16">Opponents</a>[i].getType( ) ) )
00843     {
00844       <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#o16">Opponents</a>[i].<a class="code" href="classPlayerObject.html#a6">getIsGoalie</a>() == <font class="keyword">true</font> )
00845         <font class="keywordflow">return</font> <a class="code" href="classWorldModel.html#o16">Opponents</a>[i].<a class="code" href="classObject.html#a6">getType</a>();
00846       <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#o16">Opponents</a>[i].<a class="code" href="classObject.html#a13">getGlobalPosition</a>().<a class="code" href="classVecPosition.html#a26">getX</a>() &gt; x )
00847       {
00848         x          = <a class="code" href="classWorldModel.html#o16">Opponents</a>[i].<a class="code" href="classObject.html#a13">getGlobalPosition</a>().<a class="code" href="classVecPosition.html#a26">getX</a>();
00849         y          = <a class="code" href="classWorldModel.html#o16">Opponents</a>[i].<a class="code" href="classObject.html#a13">getGlobalPosition</a>().<a class="code" href="classVecPosition.html#a28">getY</a>();
00850         objOppMaxX = <a class="code" href="classWorldModel.html#o16">Opponents</a>[i].<a class="code" href="classObject.html#a6">getType</a>();
00851       }
00852     }
00853   }
00854 
00855   <font class="comment">// if opponent with highest x is nr 1, assume it is goalkeeper when standing</font>
00856   <font class="comment">// in own penalty area, otherwise assume goalkeeper closest player to goal.</font>
00857   <font class="keywordflow">if</font>(  objOppMaxX == <a class="code" href="SoccerTypes_8h.html#a240a97">OBJECT_OPPONENT_1</a> &amp;&amp; x &gt; <a class="code" href="SoccerTypes_8h.html#a18">PENALTY_X</a> + 4.0 ||
00858       (objOppMaxX != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>    &amp;&amp; x &gt; <a class="code" href="SoccerTypes_8h.html#a13">PITCH_LENGTH</a>/2.0 - 6.0 &amp;&amp;
00859        fabs( y ) &lt; <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a4">getGoalWidth</a>()/2.0 ))
00860     <font class="keywordflow">return</font> objOppMaxX;
00861   <font class="keywordflow">return</font> <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00862 }
00863 
00864 
<a name="l00873"></a><a class="code" href="classWorldModel.html#a64">00873</a> <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> <a class="code" href="classWorldModel.html#a64">WorldModel::getOwnGoalieType</a>()
00874 {
00875   <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> objOwnMinX = <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00876   <font class="keywordtype">double</font> x = -100.0, y = <a class="code" href="SoccerTypes_8h.html#a19">UnknownDoubleValue</a>;
00877   <font class="keywordflow">for</font>( <font class="keywordtype">int</font> i = 0; i &lt; <a class="code" href="SoccerTypes_8h.html#a0">MAX_TEAMMATES</a>; i++ )
00878   {
00879     <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#a135">isConfidenceGood</a>( <a class="code" href="classWorldModel.html#o15">Teammates</a>[i].getType( ) ) )
00880     {
00881       <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#o15">Teammates</a>[i].<a class="code" href="classPlayerObject.html#a6">getIsGoalie</a>() == <font class="keyword">true</font> )
00882         <font class="keywordflow">return</font> <a class="code" href="classWorldModel.html#o15">Teammates</a>[i].<a class="code" href="classObject.html#a6">getType</a>();
00883       <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#o15">Teammates</a>[i].<a class="code" href="classObject.html#a13">getGlobalPosition</a>().<a class="code" href="classVecPosition.html#a26">getX</a>() &lt; x )
00884       {
00885         x          = <a class="code" href="classWorldModel.html#o15">Teammates</a>[i].<a class="code" href="classObject.html#a13">getGlobalPosition</a>().<a class="code" href="classVecPosition.html#a26">getX</a>();
00886         y          = <a class="code" href="classWorldModel.html#o15">Teammates</a>[i].<a class="code" href="classObject.html#a13">getGlobalPosition</a>().<a class="code" href="classVecPosition.html#a28">getY</a>();
00887         objOwnMinX = <a class="code" href="classWorldModel.html#o15">Teammates</a>[i].<a class="code" href="classObject.html#a6">getType</a>();
00888       }
00889     }
00890   }
00891   <font class="keywordflow">if</font>(  objOwnMinX == <a class="code" href="SoccerTypes_8h.html#a240a85">OBJECT_TEAMMATE_1</a> &amp;&amp; x &lt; - ( <a class="code" href="SoccerTypes_8h.html#a18">PENALTY_X</a> + 4.0 ) ||
00892       (objOwnMinX != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>    &amp;&amp; x &lt; - ( <a class="code" href="SoccerTypes_8h.html#a13">PITCH_LENGTH</a>/2.0 - 6.0 ) &amp;&amp;
00893        fabs( y ) &lt; <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a4">getGoalWidth</a>()/2.0 ))
00894     <font class="keywordflow">return</font> objOwnMinX;
00895   <font class="keywordflow">return</font> <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00896 }
00897 
00898 
<a name="l00903"></a><a class="code" href="classWorldModel.html#a65">00903</a> <a class="code" href="classTime.html">Time</a> <a class="code" href="classWorldModel.html#a65">WorldModel::getTimeLastSeen</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o )
00904 {
00905   <a class="code" href="classObject.html">Object</a> *object = <a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );
00906   <font class="keywordflow">if</font>( object != NULL )
00907     <font class="keywordflow">return</font> object-&gt;<a class="code" href="classObject.html#a21">getTimeLastSeen</a>(  );
00908   <font class="keywordflow">return</font> <a class="code" href="classTime.html">Time</a>( -1, 0);
00909 
00910 }
00911 
<a name="l00920"></a><a class="code" href="classWorldModel.html#a66">00920</a> <font class="keywordtype">bool</font> <a class="code" href="classWorldModel.html#a66">WorldModel::setIsKnownPlayer</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o, <font class="keywordtype">bool</font> isKnownPlayer )
00921 {
00922   <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 );
00923   <font class="keywordflow">return</font> object-&gt;<a class="code" href="classPlayerObject.html#a3">setIsKnownPlayer</a>( <a class="code" href="classWorldModel.html#a62">isKnownPlayer</a> );
00924 }
00925 
<a name="l00928"></a><a class="code" href="classWorldModel.html#a67">00928</a> <a class="code" href="classVecPosition.html">VecPosition</a> <a class="code" href="classWorldModel.html#a67">WorldModel::getPosOpponentGoal</a>( )
00929 {
00930   <font class="keywordflow">return</font> <a class="code" href="classSoccerTypes.html#d17">SoccerTypes::getGlobalPositionFlag</a>(
00931                         <a class="code" href="classSoccerTypes.html#d7">SoccerTypes::getGoalOpponent</a>( <a class="code" href="classWorldModel.html#a16">getSide</a>() ),
00932                         <a class="code" href="classWorldModel.html#a16">getSide</a>( ),
00933                         <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a4">getGoalWidth</a>() );
00934 }
00935 
<a name="l00938"></a><a class="code" href="classWorldModel.html#a68">00938</a> <a class="code" href="classVecPosition.html">VecPosition</a> <a class="code" href="classWorldModel.html#a68">WorldModel::getPosOwnGoal</a>( )
00939 {
00940   <font class="keywordflow">return</font> <a class="code" href="classSoccerTypes.html#d17">SoccerTypes::getGlobalPositionFlag</a>(
00941                         <a class="code" href="classSoccerTypes.html#d6">SoccerTypes::getOwnGoal</a>( <a class="code" href="classWorldModel.html#a16">getSide</a>() ),
00942                         <a class="code" href="classWorldModel.html#a16">getSide</a>( ),
00943                         <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a4">getGoalWidth</a>() );
00944 }
00945 
<a name="l00948"></a><a class="code" href="classWorldModel.html#a69">00948</a> <font class="keywordtype">double</font>  <a class="code" href="classWorldModel.html#a69">WorldModel::getRelDistanceOpponentGoal</a>()
00949 {
00950   <a class="code" href="classVecPosition.html">VecPosition</a> posGoal;
00951   <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#o10">sideSide</a> == <a class="code" href="SoccerTypes_8h.html#a246a177">SIDE_LEFT</a> )
00952     posGoal = <a class="code" href="classSoccerTypes.html#d17">SoccerTypes::getGlobalPositionFlag</a>( <a class="code" href="SoccerTypes_8h.html#a240a26">OBJECT_GOAL_R</a>, <a class="code" href="classWorldModel.html#o10">sideSide</a> );
00953   <font class="keywordflow">else</font>
00954     posGoal = <a class="code" href="classSoccerTypes.html#d17">SoccerTypes::getGlobalPositionFlag</a>( <a class="code" href="SoccerTypes_8h.html#a240a25">OBJECT_GOAL_L</a>, <a class="code" href="classWorldModel.html#o10">sideSide</a> );
00955 
00956   <font class="keywordflow">return</font> <a class="code" href="classWorldModel.html#a43">getAgentGlobalPosition</a>().<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>( posGoal );
00957 
00958 }
00959 
<a name="l00964"></a><a class="code" href="classWorldModel.html#a70">00964</a> <font class="keywordtype">double</font>  <a class="code" href="classWorldModel.html#a70">WorldModel::getRelAngleOpponentGoal</a>()
00965 {
00966   <a class="code" href="classVecPosition.html">VecPosition</a> posGoal;
00967   <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#o10">sideSide</a> == <a class="code" href="SoccerTypes_8h.html#a246a177">SIDE_LEFT</a> )
00968     posGoal = <a class="code" href="classSoccerTypes.html#d17">SoccerTypes::getGlobalPositionFlag</a>( <a class="code" href="SoccerTypes_8h.html#a240a26">OBJECT_GOAL_R</a>, <a class="code" href="classWorldModel.html#o10">sideSide</a> );
00969   <font class="keywordflow">else</font>
00970     posGoal = <a class="code" href="classSoccerTypes.html#d17">SoccerTypes::getGlobalPositionFlag</a>( <a class="code" href="SoccerTypes_8h.html#a240a25">OBJECT_GOAL_L</a>, <a class="code" href="classWorldModel.html#o10">sideSide</a> );
00971 
00972   <font class="keywordflow">return</font> ( posGoal - <a class="code" href="classWorldModel.html#a43">getAgentGlobalPosition</a>()).getDirection() ;
00973 
00974 }
00975 
<a name="l00979"></a><a class="code" href="classWorldModel.html#a71">00979</a> <a class="code" href="classHeteroPlayerSettings.html">HeteroPlayerSettings</a> <a class="code" href="classWorldModel.html#a71">WorldModel::getInfoHeteroPlayer</a>( <font class="keywordtype">int</