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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>WorldModelHighLevel.C Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body bgcolor="#ffffff"><!-- Generated by Doxygen 1.2.12 --><center><a class="qindex" href="index.html">Main Page</a> <a class="qindex" href="hierarchy.html">Class Hierarchy</a> <a class="qindex" href="annotated.html">Compound List</a> <a class="qindex" href="files.html">File List</a> <a class="qindex" href="functions.html">Compound Members</a> <a class="qindex" href="globals.html">File Members</a> </center><hr><h1>WorldModelHighLevel.C</h1><a href="WorldModelHighLevel_8C.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001 <font class="comment">/*</font>00002 <font class="comment">Copyright (c) 2000,2001, Jelle Kok, University of Amsterdam</font>00003 <font class="comment">All rights reserved.</font>00004 <font class="comment"></font>00005 <font class="comment">Redistribution and use in source and binary forms, with or without </font>00006 <font class="comment">modification, are permitted provided that the following conditions are met:</font>00007 <font class="comment"></font>00008 <font class="comment">1. Redistributions of source code must retain the above copyright notice, this </font>00009 <font class="comment">list of conditions and the following disclaimer. </font>00010 <font class="comment"></font>00011 <font class="comment">2. Redistributions in binary form must reproduce the above copyright notice, </font>00012 <font class="comment">this list of conditions and the following disclaimer in the documentation </font>00013 <font class="comment">and/or other materials provided with the distribution. </font>00014 <font class="comment"></font>00015 <font class="comment">3. Neither the name of the University of Amsterdam nor the names of its </font>00016 <font class="comment">contributors may be used to endorse or promote products derived from this </font>00017 <font class="comment">software without specific prior written permission. </font>00018 <font class="comment"></font>00019 <font class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" </font>00020 <font class="comment">AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE </font>00021 <font class="comment">IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE </font>00022 <font class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE </font>00023 <font class="comment">FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL </font>00024 <font class="comment">DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR </font>00025 <font class="comment">SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER </font>00026 <font class="comment">CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, </font>00027 <font class="comment">OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE </font>00028 <font class="comment">OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</font>00029 <font class="comment">*/</font>00044 <font class="preprocessor">#include<list></font> <font class="comment">// needed for list<double></font>00045 <font class="preprocessor">#include<stdio.h></font> <font class="comment">// needed for printf</font>00046 <font class="preprocessor">#include "<a class="code" href="WorldModel_8h.html">WorldModel.h</a>"</font>00047 00048 <a name="l00057"></a><a class="code" href="classWorldModel.html#a113">00057</a> <font class="keywordtype">int</font> <a class="code" href="classWorldModel.html#a113">WorldModel::getNrInSetInRectangle</a>( <a class="code" href="SoccerTypes_8h.html#a241">ObjectSetT</a> set,00058 <a class="code" href="classRectangle.html">Rectangle</a> *rect=NULL)00059 {00060 <font class="keywordtype">double</font> dConfThr = <a class="code" href="classWorldModel.html#o1">PS</a>-><a class="code" href="classPlayerSettings.html#a1">getPlayerConfThr</a>();00061 <font class="keywordtype">int</font> iNr = 0;00062 <font class="keywordtype">int</font> iIndex;00063 00064 <font class="keywordflow">for</font>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o = <a class="code" href="classWorldModel.html#a31">iterateObjectStart</a>( iIndex, set, dConfThr );00065 o != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;00066 o = <a class="code" href="classWorldModel.html#a32">iterateObjectNext</a> ( iIndex, set, dConfThr ) )00067 {00068 <font class="keywordflow">if</font>( rect == NULL || rect->isInside( <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>( o ) ) )00069 iNr++;00070 }00071 <a class="code" href="classWorldModel.html#a33">iterateObjectDone</a>( iIndex );00072 <font class="keywordflow">return</font> iNr;00073 }00074 <a name="l00080"></a><a class="code" href="classWorldModel.html#a114">00080</a> <font class="keywordtype">int</font> <a class="code" href="classWorldModel.html#a114">WorldModel::getNrInSetInCircle</a>( <a class="code" href="SoccerTypes_8h.html#a241">ObjectSetT</a> set, <a class="code" href="classCircle.html">Circle</a> c )00081 {00082 <font class="keywordtype">double</font> dConfThr = <a class="code" href="classWorldModel.html#o1">PS</a>-><a class="code" href="classPlayerSettings.html#a1">getPlayerConfThr</a>();00083 <font class="keywordtype">int</font> iNr = 0;00084 <font class="keywordtype">int</font> iIndex;00085 00086 <font class="keywordflow">for</font>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o = <a class="code" href="classWorldModel.html#a31">iterateObjectStart</a>( iIndex, set, dConfThr );00087 o != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;00088 o = <a class="code" href="classWorldModel.html#a32">iterateObjectNext</a> ( iIndex, set, dConfThr ) )00089 {00090 <font class="keywordflow">if</font>( c.<a class="code" href="classCircle.html#a10">isInside</a>( <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>( o ) ) )00091 iNr++;00092 }00093 <a class="code" href="classWorldModel.html#a33">iterateObjectDone</a>( iIndex );00094 00095 <font class="keywordflow">return</font> iNr;00096 }00097 <a name="l00109"></a><a class="code" href="classWorldModel.html#a115">00109</a> <font class="keywordtype">int</font> <a class="code" href="classWorldModel.html#a115">WorldModel::getNrInSetInCone</a>( <a class="code" href="SoccerTypes_8h.html#a241">ObjectSetT</a> set, <font class="keywordtype">double</font> dWidth,00110 <a class="code" href="classVecPosition.html">VecPosition</a> start , <a class="code" href="classVecPosition.html">VecPosition</a> end )00111 {00112 <font class="keywordtype">double</font> dConfThr = <a class="code" href="classWorldModel.html#o1">PS</a>-><a class="code" href="classPlayerSettings.html#a1">getPlayerConfThr</a>();00113 <font class="keywordtype">int</font> iNr = 0;00114 <font class="keywordtype">int</font> iIndex;00115 <a class="code" href="classLine.html">Line</a> line = <a class="code" href="classLine.html#d0">Line::makeLineFromTwoPoints</a>( start, end );00116 <a class="code" href="classVecPosition.html">VecPosition</a> posOnLine;00117 <a class="code" href="classVecPosition.html">VecPosition</a> posObj;00118 00119 <font class="keywordflow">for</font>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o = <a class="code" href="classWorldModel.html#a31">iterateObjectStart</a>( iIndex, set, dConfThr );00120 o != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;00121 o = <a class="code" href="classWorldModel.html#a32">iterateObjectNext</a> ( iIndex, set, dConfThr ) )00122 {00123 posObj = <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>( o );00124 posOnLine = line.<a class="code" href="classLine.html#a5">getPointOnLineClosestTo</a>( posObj );00125 <font class="comment">// whether posOnLine lies in cone is checked by three constraints</font>00126 <font class="comment">// - does it lie in triangle (to infinity)</font>00127 <font class="comment">// - lies between start and end (and thus not behind me)</font>00128 <font class="comment">// - does it lie in circle</font>00129 <font class="keywordflow">if</font>(posOnLine.<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>(posObj) < dWidth*posOnLine.<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>(start)00130 && line.<a class="code" href="classLine.html#a7">isInBetween</a>( posOnLine, start, end )00131 && start.<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>( posObj ) < start.<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>( end ) )00132 iNr++;00133 }00134 <a class="code" href="classWorldModel.html#a33">iterateObjectDone</a>( iIndex );00135 <font class="keywordflow">return</font> iNr;00136 }00137 <a name="l00148"></a><a class="code" href="classWorldModel.html#a116">00148</a> <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> <a class="code" href="classWorldModel.html#a116">WorldModel::getClosestInSetTo</a>( <a class="code" href="SoccerTypes_8h.html#a241">ObjectSetT</a> set, <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> objTarget,00149 <font class="keywordtype">double</font> *dDist, <font class="keywordtype">double</font> dConfThr )00150 {00151 <font class="keywordflow">if</font>( dConfThr == -1.0 ) dConfThr = <a class="code" href="classWorldModel.html#o1">PS</a>-><a class="code" href="classPlayerSettings.html#a1">getPlayerConfThr</a>();00152 <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> closestObject = <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;00153 <font class="keywordtype">double</font> dMinMag = 1000.0;00154 <a class="code" href="classVecPosition.html">VecPosition</a> v;00155 <font class="keywordtype">int</font> iIndex;00156 00157 <font class="keywordflow">for</font>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o = <a class="code" href="classWorldModel.html#a31">iterateObjectStart</a>( iIndex, set, dConfThr );00158 o != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;00159 o = <a class="code" href="classWorldModel.html#a32">iterateObjectNext</a> ( iIndex, set, dConfThr ) )00160 {00161 <font class="keywordflow">if</font>( o != objTarget ) <font class="comment">// do not include target object</font>00162 {00163 v = <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>( objTarget ) - <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>( o );00164 <font class="keywordflow">if</font>( v.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>() < dMinMag )00165 {00166 dMinMag = v.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>();00167 closestObject = o;00168 }00169 }00170 }00171 00172 <a class="code" href="classWorldModel.html#a33">iterateObjectDone</a>( iIndex );00173 <font class="keywordflow">if</font>( dDist != NULL )00174 *dDist = dMinMag;00175 <font class="keywordflow">return</font> closestObject;00176 }00177 <a name="l00188"></a><a class="code" href="classWorldModel.html#a117">00188</a> <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> <a class="code" href="classWorldModel.html#a116">WorldModel::getClosestInSetTo</a>( <a class="code" href="SoccerTypes_8h.html#a241">ObjectSetT</a> set, <a class="code" href="classVecPosition.html">VecPosition</a> pos,00189 <font class="keywordtype">double</font> *dDist, <font class="keywordtype">double</font> dConfThr )00190 {00191 <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> closestObject = <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;00192 <font class="keywordtype">double</font> dMinMag = 1000.0;00193 <a class="code" href="classVecPosition.html">VecPosition</a> v;00194 <font class="keywordtype">int</font> iIndex;00195 00196 <font class="keywordflow">if</font>( dConfThr == -1.0 ) dConfThr = <a class="code" href="classWorldModel.html#o1">PS</a>-><a class="code" href="classPlayerSettings.html#a1">getPlayerConfThr</a>();00197 <font class="keywordflow">for</font>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o = <a class="code" href="classWorldModel.html#a31">iterateObjectStart</a>( iIndex, set, dConfThr );00198 o != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;00199 o = <a class="code" href="classWorldModel.html#a32">iterateObjectNext</a> ( iIndex, set, dConfThr ) )00200 {00201 v = pos - <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>( o );00202 <font class="keywordflow">if</font>( v.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>() < dMinMag )00203 {⌨️ 快捷键说明
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