worldmodelpredict_8c-source.html

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00216   <font class="keywordflow">else</font> <font class="keywordflow">if</font>( <a class="code" href="classSoccerTypes.html#d13">SoccerTypes::isKnownPlayer</a>( o ) )
00217   {
00218     <font class="keywordtype">double</font>      dDirection = 0.0; <font class="comment">// used when no info about global body</font>
00219     <a class="code" href="classStamina.html">Stamina</a>     stamina;          <font class="comment">// used when object is agent</font>
00220 
00221     <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#a34">getAgentObjectType</a>() == o )
00222     {
00223       dDirection = <a class="code" href="classWorldModel.html#a38">getAgentGlobalBodyAngle</a>();
00224       stamina    = <a class="code" href="classWorldModel.html#a39">getAgentStamina</a>();
00225     }
00226     <font class="keywordflow">else</font> <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#a57">getTimeGlobalAngles</a>(o) &gt; <a class="code" href="classWorldModel.html#a4">getCurrentTime</a>() - 2 )
00227       dDirection = <a class="code" href="classWorldModel.html#a58">getGlobalBodyAngle</a>(o);
00228 
00229     <font class="keywordflow">for</font>( <font class="keywordtype">int</font> i = 0; i &lt; iCycles ; i ++ )
00230       <a class="code" href="classWorldModel.html#a105">predictStateAfterDash</a>( iDashPower, &amp;pos, &amp;vel, &amp;stamina, dDirection );
00231   }
00232   <font class="keywordflow">if</font>( velocity != NULL )
00233     *velocity = vel;
00234   <font class="keywordflow">return</font> pos;
00235 }
00236 
<a name="l00243"></a><a class="code" href="classWorldModel.html#a108">00243</a> <a class="code" href="classVecPosition.html">VecPosition</a> <a class="code" href="classWorldModel.html#a108">WorldModel::predictAgentPos</a>( <font class="keywordtype">int</font> iCycles, <font class="keywordtype">int</font> iDashPower )
00244 {
00245   <font class="keywordflow">return</font> <a class="code" href="classWorldModel.html#a107">predictPosAfterNrCycles</a>( <a class="code" href="classWorldModel.html#a34">getAgentObjectType</a>(), iCycles, iDashPower);
00246 }
00247 
<a name="l00256"></a><a class="code" href="classWorldModel.html#a109">00256</a> <font class="keywordtype">int</font> <a class="code" href="classWorldModel.html#a109">WorldModel::predictNrCyclesToPoint</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o, <a class="code" href="classVecPosition.html">VecPosition</a> posTo,
00257                                         <a class="code" href="Geometry_8h.html#a2">AngDeg</a> angToTurn )
00258 {
00259   <a class="code" href="classVecPosition.html">VecPosition</a> posGlobal        = <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>( o );
00260   <a class="code" href="Geometry_8h.html#a2">AngDeg</a>      angBody;
00261   <a class="code" href="Geometry_8h.html#a2">AngDeg</a>      ang;
00262 
00263   <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#a34">getAgentObjectType</a>() == o )
00264     angBody = <a class="code" href="classWorldModel.html#a38">getAgentGlobalBodyAngle</a>();
00265   <font class="keywordflow">else</font> <font class="keywordflow">if</font>( fabs(<a class="code" href="classWorldModel.html#a57">getTimeGlobalAngles</a>(o)-<a class="code" href="classWorldModel.html#a4">getCurrentTime</a>()) &lt; 2 )
00266     angBody = <a class="code" href="classWorldModel.html#a58">getGlobalBodyAngle</a>( o );
00267   <font class="keywordflow">else</font>
00268     angBody = 180;
00269 
00270   <font class="keywordtype">int</font> iExtraCycles;
00271   ang = fabs(angBody-(posTo-posGlobal).getDirection());
00272   <font class="keywordflow">if</font>( ang &gt; 20 &amp;&amp; ang &lt; 100 )
00273     iExtraCycles = 1;
00274   <font class="keywordflow">else</font> <font class="keywordflow">if</font>( ang &gt; 100 )
00275     iExtraCycles = 2;
00276   <font class="keywordflow">else</font>
00277     iExtraCycles = 0;
00278 
00279   <font class="keywordflow">if</font>( posGlobal.<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>( posTo ) &lt; <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a210">getMaximalKickDist</a>() )
00280     <font class="keywordflow">return</font> 0;
00281   <font class="keywordflow">else</font>
00282     <font class="keywordflow">return</font> iExtraCycles + int((posGlobal.<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>( posTo )
00283            /<a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a14">getPlayerSpeedMax</a>()));
00284 }
00285 
<a name="l00291"></a><a class="code" href="classWorldModel.html#a110">00291</a> <font class="keywordtype">int</font> <a class="code" href="classWorldModel.html#a110">WorldModel::predictNrCyclesToObject</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> objFrom, <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> objTo )
00292 {
00293   <font class="keywordflow">if</font>( objFrom == <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a> || objTo == <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a> ||
00294       <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>( objFrom ).<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>( <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>( objTo )
00295       ) &gt; 50 )
00296     <font class="keywordflow">return</font> 101;
00297 
00298   <font class="keywordtype">int</font>         iCycles      = 0;
00299   <font class="keywordtype">int</font>         iCyclesToObj = 100;
00300   <a class="code" href="classVecPosition.html">VecPosition</a> posObj;
00301 
00302   <font class="keywordflow">while</font>( iCycles &lt;= iCyclesToObj &amp;&amp; iCycles &lt; 100)
00303   {
00304     iCycles      = iCycles + 1  ;
00305     posObj       = <a class="code" href="classWorldModel.html#a107">predictPosAfterNrCycles</a>( objTo, iCycles );
00306     iCyclesToObj = <a class="code" href="classWorldModel.html#a109">predictNrCyclesToPoint</a>( objFrom, posObj,
00307                                            <a class="code" href="classWorldModel.html#o1">PS</a>-&gt;<a class="code" href="classPlayerSettings.html#a9">getPlayerWhenToTurnAngle</a>() );
00308   }
00309   <font class="keywordflow">if</font>( iCycles == 100 )
00310     printf( <font class="stringliteral">"(WorldModel::predictNrCyclesToObject) More than 100 cycles??\n"</font> );
00311 
00312   <font class="keywordflow">return</font> iCyclesToObj;
00313 }
00314 
00315 
00316 
<a name="l00323"></a><a class="code" href="classWorldModel.html#a111">00323</a> <font class="keywordtype">void</font> <a class="code" href="classWorldModel.html#a111">WorldModel::predictStaminaAfterDash</a>( <font class="keywordtype">double</font> dPower, <a class="code" href="classStamina.html">Stamina</a> *stamina )
00324 {
00325   <font class="keywordtype">double</font> sta = stamina-&gt;<a class="code" href="classStamina.html#a2">getStamina</a>();
00326   <font class="keywordtype">double</font> eff = stamina-&gt;<a class="code" href="classStamina.html#a4">getEffort</a>();
00327   <font class="keywordtype">double</font> rec = stamina-&gt;<a class="code" href="classStamina.html#a6">getRecovery</a>();
00328 
00329   <font class="comment">// double negative value when dashed backwards</font>
00330   sta -= ( dPower &gt; 0.0 ) ? dPower : -2*dPower ;
00331   <font class="keywordflow">if</font>( sta &lt; 0 ) sta = 0;
00332 
00333   <font class="comment">// stamina below recovery threshold, lower recovery</font>
00334   <font class="keywordflow">if</font>( sta &lt;= <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a22">getRecoverDecThr</a>()*<a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a18">getStaminaMax</a>() &amp;&amp;
00335                          rec &gt; <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a26">getRecoverMin</a>() )
00336       rec -= <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a24">getRecoverDec</a>();
00337 
00338   <font class="comment">// stamina below effort decrease threshold, lower effort</font>
00339   <font class="keywordflow">if</font>( sta &lt;= <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a28">getEffortDecThr</a>()*<a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a18">getStaminaMax</a>() &amp;&amp;
00340                    eff &gt; <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a36">getEffortMin</a>() )
00341       eff -= <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a30">getEffortDec</a>();
00342 
00343   <font class="comment">// stamina higher than effort incr threshold, raise effort and check maximum</font>
00344   <font class="keywordflow">if</font>( sta &gt;= <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a32">getEffortIncThr</a>() * <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a18">getStaminaMax</a>() &amp;&amp;
00345       eff &lt; 1.0)
00346   {
00347     eff += <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a34">getEffortInc</a>();
00348     <font class="keywordflow">if</font> ( eff &gt; 1.0 )
00349        eff = 1.0;
00350   }
00351 
00352   <font class="comment">// increase stamina with (new) recovery value and check for maximum</font>
00353   sta += rec*<a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a20">getStaminaIncMax</a>();
00354   <font class="keywordflow">if</font> ( sta &gt; <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a18">getStaminaMax</a>() )
00355     sta = <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a18">getStaminaMax</a>();
00356 
00357   stamina-&gt;<a class="code" href="classStamina.html#a3">setStamina</a> ( sta );
00358   stamina-&gt;<a class="code" href="classStamina.html#a5">setEffort</a>  ( eff );
00359   stamina-&gt;<a class="code" href="classStamina.html#a7">setRecovery</a>( rec );
00360 }
00361 
<a name="l00372"></a><a class="code" href="classWorldModel.html#a112">00372</a> <font class="keywordtype">bool</font> <a class="code" href="classWorldModel.html#a112">WorldModel::isCollisionAfterDash</a>( <a class="code" href="classSoccerCommand.html">SoccerCommand</a> soc )
00373 {
00374   <font class="keywordflow">if</font>( soc.<a class="code" href="classSoccerCommand.html#m1">commandType</a> != <a class="code" href="SoccerTypes_8h.html#a247a181">CMD_DASH</a> )
00375     <font class="keywordflow">return</font> <font class="keyword">false</font>;
00376 
00377   <a class="code" href="classVecPosition.html">VecPosition</a> posPred = <a class="code" href="classWorldModel.html#a104">predictAgentPosAfterCommand</a>( soc );
00378   <a class="code" href="classVecPosition.html">VecPosition</a> pos;
00379 
00380   <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 ++ )
00381   {
00382     <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() ) )
00383       pos = <a class="code" href="classWorldModel.html#a107">predictPosAfterNrCycles</a>( <a class="code" href="classWorldModel.html#o15">Teammates</a>[i].getType(), 1, 100 );
00384     <font class="keywordflow">if</font>( pos.<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>( posPred ) &lt; <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a6">getPlayerSize</a>() )
00385       <font class="keywordflow">return</font> <font class="keyword">true</font>;
00386   }
00387 
00388   <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 ++ )
00389   {
00390     <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() ) )
00391       pos = <a class="code" href="classWorldModel.html#a107">predictPosAfterNrCycles</a>( <a class="code" href="classWorldModel.html#o16">Opponents</a>[i].getType(), 1, 100 );
00392     <font class="keywordflow">if</font>( pos.<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>( posPred ) &lt; <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a6">getPlayerSize</a>() )
00393       <font class="keywordflow">return</font> <font class="keyword">true</font>;
00394   }
00395   <font class="keywordflow">return</font> <font class="keyword">false</font>;
00396 }
00397 
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