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00204       dMinMag         = v.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>();
00205       closestObject   = o;
00206     }
00207   }
00208   <a class="code" href="classWorldModel.html#a33">iterateObjectDone</a>( iIndex );
00209   <font class="keywordflow">if</font>( dDist != NULL )
00210     *dDist = dMinMag;
00211   <font class="keywordflow">return</font> closestObject;
00212 }
00213 
<a name="l00227"></a><a class="code" href="classWorldModel.html#a118">00227</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="classLine.html">Line</a> l,
00228                               <a class="code" href="classVecPosition.html">VecPosition</a> pos1, <a class="code" href="classVecPosition.html">VecPosition</a> pos2,
00229                               <font class="keywordtype">double</font> *dDistObjToLine, <font class="keywordtype">double</font> *dDistPos1ToPoint)
00230 {
00231   <a class="code" href="classVecPosition.html">VecPosition</a> posObj;
00232   <a class="code" href="classVecPosition.html">VecPosition</a> posOnLine;
00233   <font class="keywordtype">double</font>      dConfThr  = <a class="code" href="classWorldModel.html#o1">PS</a>-&gt;<a class="code" href="classPlayerSettings.html#a1">getPlayerConfThr</a>();
00234   <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>     obj       = <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00235   <font class="keywordtype">double</font>      dDist     = 1000.0;
00236   <font class="keywordtype">double</font>      dMinDist  = 1000.0;
00237   <font class="keywordtype">double</font>      dDistPos1 = 1000.0;
00238   <font class="keywordtype">int</font>         iIndex;
00239 
00240   <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 );
00241        o != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00242        o = <a class="code" href="classWorldModel.html#a32">iterateObjectNext</a> ( iIndex, set, dConfThr ) )
00243   {
00244     posObj    = <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>( o );
00245     posOnLine = l.<a class="code" href="classLine.html#a5">getPointOnLineClosestTo</a>( posObj );
00246     dDist     = posObj.<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>( posOnLine );
00247     <font class="keywordflow">if</font>( l.<a class="code" href="classLine.html#a7">isInBetween</a>( posOnLine, pos1, pos2 ) &amp;&amp; dDist &lt; dMinDist )
00248     {
00249       dMinDist  = dDist;
00250       obj       = o;
00251       dDistPos1 = pos1.<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>( posOnLine );
00252     }
00253   }
00254   <a class="code" href="classWorldModel.html#a33">iterateObjectDone</a>( iIndex );
00255   <font class="keywordflow">if</font>( dDistObjToLine != NULL )
00256     *dDistObjToLine = dMinDist;
00257   <font class="keywordflow">if</font>( dDistPos1ToPoint != NULL )
00258     *dDistPos1ToPoint = dDistPos1;
00259 
00260   <font class="keywordflow">return</font> obj;
00261 }
00262 
<a name="l00269"></a><a class="code" href="classWorldModel.html#a119">00269</a> <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> <a class="code" href="classWorldModel.html#a119">WorldModel::getClosestRelativeInSet</a>( <a class="code" href="SoccerTypes_8h.html#a241">ObjectSetT</a> set, <font class="keywordtype">double</font> *dDist )
00270 {
00271   <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>     closestObject = <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00272   <font class="keywordtype">double</font>      dMinMag       = 1000.0;
00273   <font class="keywordtype">int</font>         iIndex;
00274 
00275   <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, 1.0 );
00276        o != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00277        o = <a class="code" href="classWorldModel.html#a32">iterateObjectNext</a> ( iIndex, set, 1.0 ) )
00278   {
00279     <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#a54">getRelativeDistance</a>( o ) &lt; dMinMag )
00280     {
00281       dMinMag       = <a class="code" href="classWorldModel.html#a54">getRelativeDistance</a>( o );
00282       closestObject = o;
00283     }
00284   }
00285 
00286   <a class="code" href="classWorldModel.html#a33">iterateObjectDone</a>( iIndex );
00287   <font class="keywordflow">if</font>( dDist != NULL )
00288     *dDist = dMinMag;
00289   <font class="keywordflow">return</font> closestObject;
00290 }
00291 
<a name="l00302"></a><a class="code" href="classWorldModel.html#a120">00302</a> <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> <a class="code" href="classWorldModel.html#a120">WorldModel::getSecondClosestInSetTo</a> ( <a class="code" href="SoccerTypes_8h.html#a241">ObjectSetT</a> set, <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> obj,
00303                                               <font class="keywordtype">double</font> *dDist,  <font class="keywordtype">double</font> dConfThr )
00304 {
00305   <a class="code" href="classVecPosition.html">VecPosition</a> v;
00306   <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>     closestObject       = <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00307   <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>     secondClosestObject = <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00308   <font class="keywordtype">double</font>      dMinMag             = 1000.0;
00309   <font class="keywordtype">double</font>      dSecondMinMag       = 1000.0;
00310   <font class="keywordtype">int</font>         iIndex;
00311 
00312   <font class="keywordflow">if</font>( dConfThr == -1.0 ) dConfThr = <a class="code" href="classWorldModel.html#o1">PS</a>-&gt;<a class="code" href="classPlayerSettings.html#a1">getPlayerConfThr</a>();
00313 
00314   <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 );
00315        o != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00316        o = <a class="code" href="classWorldModel.html#a32">iterateObjectNext</a> ( iIndex, set, dConfThr ) )
00317   {
00318     <font class="keywordflow">if</font>( o != obj )
00319     {
00320       v = <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>( obj ) - <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>( o );
00321       <font class="keywordflow">if</font>( v.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>() &lt; dMinMag )                  <font class="comment">// closer then first</font>
00322       {
00323         dSecondMinMag         = dMinMag;                <font class="comment">// put first to second</font>
00324         secondClosestObject   = closestObject;
00325         dMinMag               = v.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>();       <font class="comment">// and this to first</font>
00326         closestObject         = o;
00327       }
00328       <font class="keywordflow">else</font> <font class="keywordflow">if</font>( v.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>() &lt; dSecondMinMag )       <font class="comment">// between first and 2nd</font>
00329       {
00330         dSecondMinMag         = v.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>();       <font class="comment">// put this to second</font>
00331         secondClosestObject   = o;
00332       }
00333     }
00334   }
00335   <a class="code" href="classWorldModel.html#a33">iterateObjectDone</a>( iIndex );
00336   <font class="keywordflow">if</font>( dDist != NULL )
00337     *dDist = dSecondMinMag;
00338   <font class="keywordflow">return</font> secondClosestObject;
00339 }
00340 
<a name="l00347"></a><a class="code" href="classWorldModel.html#a121">00347</a> <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> <a class="code" href="classWorldModel.html#a121">WorldModel::getSecondClosestRelativeInSet</a>( <a class="code" href="SoccerTypes_8h.html#a241">ObjectSetT</a> set, <font class="keywordtype">double</font> *dDist )
00348 {
00349   <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>     closestObject       = <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00350   <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>     secondClosestObject = <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00351   <font class="keywordtype">double</font>      dMinMag             = 1000.0;
00352   <font class="keywordtype">double</font>      dSecondMinMag       = 1000.0;
00353   <font class="keywordtype">double</font>      d;
00354   <font class="keywordtype">int</font>         iIndex;
00355 
00356   <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, 1.0 );
00357        o != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00358        o = <a class="code" href="classWorldModel.html#a32">iterateObjectNext</a> ( iIndex, set, 1.0 ) )
00359   {
00360     d = <a class="code" href="classWorldModel.html#a54">getRelativeDistance</a>( o );
00361     <font class="keywordflow">if</font>( d &lt; dMinMag )                                 <font class="comment">// closer then first</font>
00362     {
00363       dSecondMinMag         = dMinMag;                <font class="comment">// put first to second</font>
00364       secondClosestObject   = closestObject;
00365       dMinMag               = d;                      <font class="comment">// and this to first</font>
00366       closestObject         = o;
00367     }
00368     <font class="keywordflow">else</font> <font class="keywordflow">if</font>( d &lt; dSecondMinMag )                      <font class="comment">// between first and 2nd</font>
00369     {
00370       dSecondMinMag         = d;                      <font class="comment">// put this to second</font>
00371       secondClosestObject   = o;
00372     }
00373   }
00374   <a class="code" href="classWorldModel.html#a33">iterateObjectDone</a>( iIndex );
00375   <font class="keywordflow">if</font>( dDist != NULL )
00376     *dDist = dSecondMinMag;
00377   <font class="keywordflow">return</font> secondClosestObject;
00378 }
00379 
00380 
<a name="l00391"></a><a class="code" href="classWorldModel.html#a124">00391</a> <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> <a class="code" href="classWorldModel.html#a124">WorldModel::getFurthestInSetTo</a>( <a class="code" href="SoccerTypes_8h.html#a241">ObjectSetT</a> set, <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> objTarget,
00392                                         <font class="keywordtype">double</font> *dDist, <font class="keywordtype">double</font> dConfThr )
00393 {
00394   <font class="keywordflow">if</font>( dConfThr == -1.0 ) dConfThr      = <a class="code" href="classWorldModel.html#o1">PS</a>-&gt;<a class="code" href="classPlayerSettings.html#a1">getPlayerConfThr</a>();
00395 
00396   <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>     furthestObject = <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00397   <font class="keywordtype">double</font>      dMaxMag       = -1000.0;
00398   <a class="code" href="classVecPosition.html">VecPosition</a> v;
00399   <font class="keywordtype">int</font>         iIndex;
00400 
00401   <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 );