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00402        o != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00403        o = <a class="code" href="classWorldModel.html#a32">iterateObjectNext</a> ( iIndex, set, dConfThr ) )
00404   {
00405     <font class="keywordflow">if</font>( o != objTarget )
00406     {
00407       v = <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>( objTarget ) - <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>( o );
00408       <font class="keywordflow">if</font>( v.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>() &gt; dMaxMag )
00409       {
00410         dMaxMag        = v.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>();
00411         furthestObject = o;
00412       }
00413     }
00414   }
00415   <a class="code" href="classWorldModel.html#a33">iterateObjectDone</a>( iIndex );
00416   <font class="keywordflow">if</font>( dDist != NULL )
00417     *dDist = dMaxMag;
00418   <font class="keywordflow">return</font> furthestObject;
00419 }
00420 
<a name="l00427"></a><a class="code" href="classWorldModel.html#a125">00427</a> <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> <a class="code" href="classWorldModel.html#a125">WorldModel::getFurthestRelativeInSet</a>( <a class="code" href="SoccerTypes_8h.html#a241">ObjectSetT</a> set, <font class="keywordtype">double</font> *dDist  )
00428 {
00429   <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>     furthestObject = <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00430   <font class="keywordtype">double</font>      dMaxMag       = -1000.0;
00431   <font class="keywordtype">int</font>         iIndex;
00432 
00433   <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 );
00434        o != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00435        o = <a class="code" href="classWorldModel.html#a32">iterateObjectNext</a> ( iIndex, set, 1.0 ) )
00436   {
00437     <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#a54">getRelativeDistance</a>( o ) &gt; dMaxMag )
00438     {
00439       dMaxMag        = <a class="code" href="classWorldModel.html#a54">getRelativeDistance</a>( o );
00440       furthestObject = o;
00441     }
00442   }
00443   <a class="code" href="classWorldModel.html#a33">iterateObjectDone</a>( iIndex );
00444   <font class="keywordflow">if</font>( dDist != NULL )
00445     *dDist = dMaxMag;
00446   <font class="keywordflow">return</font> furthestObject;
00447 }
00448 
00449 
<a name="l00459"></a><a class="code" href="classWorldModel.html#a122">00459</a> <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> <a class="code" href="classWorldModel.html#a122">WorldModel::getFastestInSetTo</a>( <a class="code" href="SoccerTypes_8h.html#a241">ObjectSetT</a> set, <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> obj,
00460                                         <font class="keywordtype">int</font> *iCyclesToIntercept )
00461 {
00462   <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>();
00463   <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>     fastestObject = <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00464   <font class="keywordtype">int</font>         iCycles       = -1;
00465   <font class="keywordtype">int</font>         iCyclesToObj  = 100;
00466   <font class="keywordtype">int</font>         iMinCycles    = 100;
00467   <font class="keywordtype">int</font>         iIndex;
00468   <a class="code" href="classVecPosition.html">VecPosition</a> posObj;
00469 
00470   <font class="keywordflow">while</font>( iCycles &lt; iMinCycles &amp;&amp; iCycles &lt; 100)
00471   {
00472     iCycles    = iCycles + 1  ;
00473     iMinCycles = 100;
00474     posObj     = <a class="code" href="classWorldModel.html#a107">predictPosAfterNrCycles</a>( obj, iCycles );
00475 
00476     <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 );
00477        o != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00478        o = <a class="code" href="classWorldModel.html#a32">iterateObjectNext</a> ( iIndex, set, dConfThr ) )
00479     {
00480       <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>(o).<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>(posObj)/<a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a14">getPlayerSpeedMax</a>()
00481               &lt; iMinCycles )
00482       {
00483         iCyclesToObj = (int)rint(<a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>(o).<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>(posObj)
00484                              /<a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a14">getPlayerSpeedMax</a>());
00485         iMinCycles = iCyclesToObj;
00486         fastestObject = o;
00487       }
00488     }
00489     <a class="code" href="classWorldModel.html#a33">iterateObjectDone</a>( iIndex );
00490   }
00491 
00492   <font class="keywordflow">if</font>( iCyclesToIntercept != NULL )
00493     *iCyclesToIntercept  = iMinCycles;
00494   <font class="keywordflow">return</font> fastestObject;
00495 }
00496 
<a name="l00507"></a><a class="code" href="classWorldModel.html#a123">00507</a> <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> <a class="code" href="classWorldModel.html#a122">WorldModel::getFastestInSetTo</a>( <a class="code" href="SoccerTypes_8h.html#a241">ObjectSetT</a> set, <a class="code" href="classVecPosition.html">VecPosition</a> pos,
00508                       <a class="code" href="classVecPosition.html">VecPosition</a> vel, <font class="keywordtype">double</font> dDecay, <font class="keywordtype">int</font> *iCyclesToIntercept)
00509 {
00510   <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>();
00511   <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> fastestObject = <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00512   <font class="keywordtype">int</font>     iCycles       = 0;
00513   <font class="keywordtype">int</font>     iCyclesToObj  = 100;
00514   <font class="keywordtype">int</font>     iMinCycles    = 100;
00515   <font class="keywordtype">int</font>     iIndex;
00516 
00517   <font class="keywordflow">while</font>( iCycles &lt; iMinCycles &amp;&amp; iCycles &lt; 100)
00518   {
00519     iCycles    = iCycles + 1  ;
00520     iMinCycles = 100;
00521 
00522     <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 );
00523        o != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00524        o = <a class="code" href="classWorldModel.html#a32">iterateObjectNext</a> ( iIndex, set, dConfThr ) )
00525     {
00526        <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>(o).<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>(pos)/<a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a14">getPlayerSpeedMax</a>()
00527               &lt; iMinCycles )
00528       {
00529         iCyclesToObj = (int)rint(<a class="code" href="classWorldModel.html#a51">getGlobalPosition</a>(o).<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>(pos)
00530                              /<a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a14">getPlayerSpeedMax</a>() );
00531         iMinCycles    = iCyclesToObj;
00532         fastestObject = o;
00533       }
00534     }
00535     <a class="code" href="classWorldModel.html#a33">iterateObjectDone</a>( iIndex );
00536     pos += vel;
00537     vel *= dDecay;
00538   }
00539 
00540   <font class="keywordflow">if</font>( iCyclesToIntercept != NULL )
00541     *iCyclesToIntercept = iMinCycles;
00542   <font class="keywordflow">return</font> fastestObject;
00543 }
00544 
<a name="l00552"></a><a class="code" href="classWorldModel.html#a126">00552</a> <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> <a class="code" href="classWorldModel.html#a126">WorldModel::getFirstEmptySpotInSet</a>( <a class="code" href="SoccerTypes_8h.html#a241">ObjectSetT</a> set )
00553 {
00554   <font class="keywordtype">int</font>     iIndex;
00555 
00556   <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,  0.0 );
00557        o != <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00558        o = <a class="code" href="classWorldModel.html#a32">iterateObjectNext</a> ( iIndex, set, 0.0 ) )
00559   {
00560     <font class="keywordflow">if</font>( <a class="code" href="classWorldModel.html#a61">getConfidence</a>( o ) &lt; <a class="code" href="classWorldModel.html#o1">PS</a>-&gt;<a class="code" href="classPlayerSettings.html#a1">getPlayerConfThr</a>() &amp;&amp;
00561         o != <a class="code" href="classWorldModel.html#a34">getAgentObjectType</a>() )
00562       <font class="keywordflow">return</font> o;
00563   }
00564   <font class="keywordflow">return</font> <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a>;
00565 }
00566 
00567 
<a name="l00574"></a><a class="code" href="classWorldModel.html#a127">00574</a> <font class="keywordtype">bool</font> <a class="code" href="classWorldModel.html#a127">WorldModel::isVisible</a>( <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o )
00575 {
00576   <a class="code" href="classObject.html">Object</a> *object = <a class="code" href="classWorldModel.html#c0">getObjectPtrFromType</a>( o );
00577 
00578   <font class="keywordflow">if</font>( object != NULL &amp;&amp;
00579       object-&gt;<a class="code" href="classObject.html#a21">getTimeLastSeen</a>() == <a class="code" href="classWorldModel.html#a10">getTimeLastSeeMessage</a>() )
00580     <font class="keywordflow">return</font> <font class="keyword">true</font>;
00581 
00582   <font class="keywordflow">return</font> <font class="keyword">false</font>;
00583 }
00584 
<a name="l00589"></a><a class="code" href="classWorldModel.html#a128">00589</a> <font class="keywordtype">bool</font> <a class="code" href="classWorldModel.html#a128">WorldModel::isBallKickable</a>()
00590 {
00591   <font class="keywordflow">return</font> <a class="code" href="classWorldModel.html#a54">getRelativeDistance</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a> ) &lt; <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a210">getMaximalKickDist</a>();
00592 }
00593 
<a name="l00603"></a><a class="code" href="classWorldModel.html#a129">00603</a> <font class="keywordtype">bool</font> <a class="code" href="classWorldModel.html#a129">WorldModel::isBallCatchable</a>()
00604 {
00605   <font class="keywordflow">return</font> <a class="code" href="classWorldModel.html#a1">getTimeSinceLastCatch</a>()            &gt; <a class="code" href="classWorldModel.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a54">getCatchBanCycle</a>()  &amp;&amp;