soccertypes_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 627 行 · 第 1/5 页

00587 
<a name="l00592"></a><a class="code" href="classSoccerCommand.html#a5">00592</a> <font class="keywordtype">bool</font> <a class="code" href="classSoccerCommand.html#a5">SoccerCommand::isIllegal</a>( )
00593 {
00594   <font class="keywordflow">return</font> <a class="code" href="classSoccerCommand.html#m1">commandType</a> == <a class="code" href="SoccerTypes_8h.html#a247a180">CMD_ILLEGAL</a>;
00595 }
00596 
<a name="l00604"></a><a class="code" href="classSoccerCommand.html#a7">00604</a> <font class="keywordtype">char</font>*  <a class="code" href="classSoccerCommand.html#a7">SoccerCommand::getCommandString</a>( <font class="keywordtype">char</font> *str, <a class="code" href="classServerSettings.html">ServerSettings</a> *ss )
00605 {
00606   <a class="code" href="classSoccerCommand.html#o0">SS</a> = ss;
00607   <font class="keywordtype">bool</font> b = <font class="keyword">false</font>;
00608   <font class="keywordflow">switch</font>( commandType )
00609   {
00610     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a247a181">CMD_DASH</a>:        b = <a class="code" href="classSoccerCommand.html#c2">makeDashCommand</a>(         <a class="code" href="classSoccerCommand.html#m8">str</a> ); <font class="keywordflow">break</font>;
00611     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a247a182">CMD_TURN</a>:        b = <a class="code" href="classSoccerCommand.html#c7">makeTurnCommand</a>(         <a class="code" href="classSoccerCommand.html#m8">str</a> ); <font class="keywordflow">break</font>;
00612     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a247a183">CMD_TURNNECK</a>:    b = <a class="code" href="classSoccerCommand.html#c8">makeTurnNeckCommand</a>(     <a class="code" href="classSoccerCommand.html#m8">str</a> ); <font class="keywordflow">break</font>;
00613     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a247a184">CMD_CHANGEVIEW</a>:  b = <a class="code" href="classSoccerCommand.html#c1">makeChangeViewCommand</a>(   <a class="code" href="classSoccerCommand.html#m8">str</a> ); <font class="keywordflow">break</font>;
00614     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a247a185">CMD_CATCH</a>:       b = <a class="code" href="classSoccerCommand.html#c0">makeCatchCommand</a>(        <a class="code" href="classSoccerCommand.html#m8">str</a> ); <font class="keywordflow">break</font>;
00615     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a247a186">CMD_KICK</a>:        b = <a class="code" href="classSoccerCommand.html#c3">makeKickCommand</a>(         <a class="code" href="classSoccerCommand.html#m8">str</a> ); <font class="keywordflow">break</font>;
00616     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a247a187">CMD_MOVE</a>:        b = <a class="code" href="classSoccerCommand.html#c4">makeMoveCommand</a>(         <a class="code" href="classSoccerCommand.html#m8">str</a> ); <font class="keywordflow">break</font>;
00617     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a247a188">CMD_SENSEBODY</a>:   b = <a class="code" href="classSoccerCommand.html#c6">makeSenseBodyCommand</a>(    <a class="code" href="classSoccerCommand.html#m8">str</a> ); <font class="keywordflow">break</font>;
00618     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a247a189">CMD_SAY</a>:         b = <a class="code" href="classSoccerCommand.html#c5">makeSayCommand</a>(          <a class="code" href="classSoccerCommand.html#m8">str</a> ); <font class="keywordflow">break</font>;
00619     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a247a190">CMD_CHANGEPLAYER</a>:b = <a class="code" href="classSoccerCommand.html#c9">makeChangePlayerCommand</a>( <a class="code" href="classSoccerCommand.html#m8">str</a> ); <font class="keywordflow">break</font>;
00620     <font class="keywordflow">case</font> <a class="code" href="SoccerTypes_8h.html#a247a180">CMD_ILLEGAL</a>:    <a class="code" href="classSoccerCommand.html#m8">str</a>[0] = <font class="charliteral">'\0'</font>;                       <font class="keywordflow">break</font>;
00621     <font class="keywordflow">default</font>:
00622       cerr &lt;&lt; <font class="stringliteral">"(ActHandler::makeCommandString) Unkown command!"</font>&lt;&lt;endl;
00623 
00624     <font class="keywordflow">if</font>( b == <font class="keyword">false</font> )                       <font class="comment">// if string could not be created</font>
00625     {
00626       <a class="code" href="classSoccerCommand.html#m1">commandType</a> = <a class="code" href="SoccerTypes_8h.html#a247a180">CMD_ILLEGAL</a>;
00627       <a class="code" href="classSoccerCommand.html#m8">str</a>[0] = <font class="charliteral">'\0'</font>;                       <font class="comment">// create the empty string</font>
00628     }
00629   }
00630   <font class="keywordflow">return</font> <a class="code" href="classSoccerCommand.html#m8">str</a>;
00631 }
00632 
<a name="l00639"></a><a class="code" href="classSoccerCommand.html#c0">00639</a> <font class="keywordtype">bool</font> <a class="code" href="classSoccerCommand.html#c0">SoccerCommand::makeCatchCommand</a>( <font class="keywordtype">char</font> *str  )
00640 {
00641   <font class="keywordflow">if</font>( <a class="code" href="classSoccerCommand.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a100">getMinMoment</a>( ) &lt;= <a class="code" href="classSoccerCommand.html#m2">dAngle</a> &amp;&amp; <a class="code" href="classSoccerCommand.html#m2">dAngle</a> &lt;= <a class="code" href="classSoccerCommand.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a98">getMaxMoment</a>( ) )
00642     sprintf( <a class="code" href="classSoccerCommand.html#m8">str</a>, <font class="stringliteral">"(catch %d)"</font>, (<font class="keywordtype">int</font>)<a class="code" href="classSoccerCommand.html#m2">dAngle</a> );
00643   <font class="keywordflow">else</font>
00644   {
00645     printf(<font class="stringliteral">"(SoccerCommand::makeCatchCommand) angle %f out of bounds\n"</font>,<a class="code" href="classSoccerCommand.html#m2">dAngle</a>);
00646     <font class="keywordflow">return</font> <font class="keyword">false</font>;
00647   }
00648   <font class="keywordflow">return</font> <font class="keyword">true</font>;
00649 }
00650 
<a name="l00657"></a><a class="code" href="classSoccerCommand.html#c1">00657</a> <font class="keywordtype">bool</font> <a class="code" href="classSoccerCommand.html#c1">SoccerCommand::makeChangeViewCommand</a>( <font class="keywordtype">char</font> *str  )
00658 {
00659   <font class="keywordflow">if</font>( <a class="code" href="classSoccerCommand.html#m5">va</a> != <a class="code" href="SoccerTypes_8h.html#a244a173">VA_ILLEGAL</a> &amp;&amp; <a class="code" href="classSoccerCommand.html#m4">vq</a> != <a class="code" href="SoccerTypes_8h.html#a245a176">VQ_ILLEGAL</a> )
00660     sprintf( <a class="code" href="classSoccerCommand.html#m8">str</a>,<font class="stringliteral">"(change_view %s %s)"</font>, <a class="code" href="classSoccerTypes.html#d24">SoccerTypes::getViewAngleStr</a>  ( <a class="code" href="classSoccerCommand.html#m5">va</a> ),
00661                                         <a class="code" href="classSoccerTypes.html#d27">SoccerTypes::getViewQualityStr</a>( <a class="code" href="classSoccerCommand.html#m4">vq</a> ) );
00662   <font class="keywordflow">else</font>
00663   {
00664     printf( <font class="stringliteral">"(SoccerCommand::makeChangeViewCommand) wrong arguments %s %s\n"</font>,
00665                              <a class="code" href="classSoccerTypes.html#d24">SoccerTypes::getViewAngleStr</a>  ( <a class="code" href="classSoccerCommand.html#m5">va</a> ),
00666                              <a class="code" href="classSoccerTypes.html#d27">SoccerTypes::getViewQualityStr</a>( <a class="code" href="classSoccerCommand.html#m4">vq</a> )  );
00667     <font class="keywordflow">return</font> <font class="keyword">false</font>;
00668   }
00669   <font class="keywordflow">return</font> <font class="keyword">true</font>;
00670 }
00671 
<a name="l00678"></a><a class="code" href="classSoccerCommand.html#c2">00678</a> <font class="keywordtype">bool</font> <a class="code" href="classSoccerCommand.html#c2">SoccerCommand::makeDashCommand</a>( <font class="keywordtype">char</font> *str  )
00679 {
00680   <font class="keywordflow">if</font>( <a class="code" href="classSoccerCommand.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a96">getMinPower</a>() &lt;= <a class="code" href="classSoccerCommand.html#m3">dPower</a> &amp;&amp; <a class="code" href="classSoccerCommand.html#m3">dPower</a> &lt;= <a class="code" href="classSoccerCommand.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a94">getMaxPower</a>() )
00681     sprintf( <a class="code" href="classSoccerCommand.html#m8">str</a>,<font class="stringliteral">"(dash %d)"</font>, (<font class="keywordtype">int</font>)<a class="code" href="classSoccerCommand.html#m3">dPower</a> );
00682   <font class="keywordflow">else</font>
00683   {
00684     printf( <font class="stringliteral">"(SoccerCommand::makeDashCommand) power %d out of bounds (%d,%d)\n"</font>,
00685         (<font class="keywordtype">int</font>)<a class="code" href="classSoccerCommand.html#m3">dPower</a>, <a class="code" href="classSoccerCommand.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a96">getMinPower</a>(), <a class="code" href="classSoccerCommand.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a94">getMaxPower</a>() );
00686     <a class="code" href="classSoccerCommand.html#m3">dPower</a> = 0.0;
00687     sprintf( <a class="code" href="classSoccerCommand.html#m8">str</a>, <font class="stringliteral">"(dash 0)"</font> );
00688     <font class="keywordflow">return</font> <font class="keyword">false</font>;
00689   }
00690   <font class="keywordflow">return</font> <font class="keyword">true</font>;
00691 }
00692 
<a name="l00699"></a><a class="code" href="classSoccerCommand.html#c3">00699</a> <font class="keywordtype">bool</font> <a class="code" href="classSoccerCommand.html#c3">SoccerCommand::makeKickCommand</a>( <font class="keywordtype">char</font> *str  )
00700 {
00701   <font class="keywordflow">if</font>( <a class="code" href="classSoccerCommand.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a96">getMinPower</a>( )  &lt;= <a class="code" href="classSoccerCommand.html#m3">dPower</a> &amp;&amp; <a class="code" href="classSoccerCommand.html#m3">dPower</a> &lt;= <a class="code" href="classSoccerCommand.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a94">getMaxPower</a>( ) &amp;&amp;
00702       <a class="code" href="classSoccerCommand.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a100">getMinMoment</a>( ) &lt;= <a class="code" href="classSoccerCommand.html#m2">dAngle</a> &amp;&amp; <a class="code" href="classSoccerCommand.html#m2">dAngle</a> &lt;= <a class="code" href="classSoccerCommand.html#o0">SS</a>-&gt;<a class="code" href="classServerSettings.html#a98">getMaxMoment</a>( ) )
00703     sprintf( <a class="code" href="classSoccerCommand.html#m8">str</a>,<font class="stringliteral">"(kick %d %d)"</font>, (<font class="keywordtype">int</font>)<a class="code" href="classSoccerCommand.html#m3">dPower</a>, (<font class="keywordtype">int</font>)<a class="code" href="classSoccerCommand.html#m2">dAngle</a> );
00704   <font class="keywordflow">else</font>
00705   {
00706     printf(<font class="stringliteral">"(SoccerCommand::makeKickCommand) one argument %d or %d is wrong\n"</font>,
00707                     (<font class="keywordtype">int</font>)<a class="code" href="classSoccerCommand.html#m3">dPower</a>, (<font class="keywordtype">int</font>)<a class="code" href="classSoccerCommand.html#m2">dAngle</a> );
00708     <font class="keywordflow">return</font> <font class="keyword">false</font>;
00709   }
00710   <font class="keywordflow">return</font> <font class="keyword">true</font>;
00711 }
00712 
<a name="l00719"></a><a class="code" href="classSoccerCommand.html#c4">00719</a> <font class="keywordtype">bool</font> <a class="code" href="classSoccerCommand.html#c4">SoccerCommand::makeMoveCommand</a>( <font class="keywordtype">char</font> *str  )
00720 {
00721   <font class="keywordflow">if</font>( -<a class="code" href="SoccerTypes_8h.html#a13">PITCH_LENGTH</a>/2 - <a class="code" href="SoccerTypes_8h.html#a15">PITCH_MARGIN</a> &lt;= <a class="code" href="classSoccerCommand.html#m6">dX</a> &amp;&amp;
00722        <a class="code" href="SoccerTypes_8h.html#a13">PITCH_LENGTH</a>/2 + <a class="code" href="SoccerTypes_8h.html#a15">PITCH_MARGIN</a> &gt;= <a class="code" href="classSoccerCommand.html#m6">dX</a> &amp;&amp;
00723       -<a class="code" href="SoccerTypes_8h.html#a14">PITCH_WIDTH</a>/2  - <a class="code" href="SoccerTypes_8h.html#a15">PITCH_MARGIN</a> &lt;= <a class="code" href="classSoccerCommand.html#m7">dY</a> &amp;&amp;
00724        <a class="code" href="SoccerTypes_8h.html#a14">PITCH_WIDTH</a>/2  + <a class="code" href="SoccerTypes_8h.html#a15">PITCH_MARGIN</a> &gt;= <a class="code" href="classSoccerCommand.html#m7">dY</a>   )
00725     sprintf( <a class="code" href="classSoccerCommand.html#m8">str</a>,<font class="stringliteral">"(move %d %d)"</font>, (<font class="keywordtype">int</font>)<a class="code" href="classSoccerCommand.html#m6">dX</a>, (<font class="keywordtype">int</font>)<a class="code" href="classSoccerCommand.html#m7">dY</a>);
00726   <font class="keywordflow">else</font>
00727   {
00728     printf( <font class="stringliteral">"(SoccerCommand::makeMoveCommand) one argument %d or %d is wrong\n"</font>,
00729                   (<font class="keywordtype">int</font>)<a class="code" href="classSoccerCommand.html#m6">dX</a>, (<font class="keywordtype">int</font>)<a class="code" href="classSoccerCommand.html#m7">dY</a>);
00730     <font class="keywordflow">return</font> <font class="keyword">false</font>;
00731   }
00732   <font class="keywordflow">return</font> <font class="keyword">true</font>;
00733 }
00734 
<a name="l00741"></a><a class="code" href="classSoccerCommand.html#c5">00741</a> <font class="keywordtype">bool</font> <a class="code" href="classSoccerCommand.html#c5">SoccerCommand::makeSayCommand</a>( <font class="keywordtype">char</font> *str_com  )
00742 {
00743   <font class="keywordflow">if</font>( <a class="code" href="classSoccerCommand.html#m8">str</a> != NULL &amp;&amp; <a class="code" href="classSoccerCommand.html#m8">str</a>[0] != <font class="charliteral">'\0'</font> )
00744     sprintf( str_com, <font class="stringliteral">"(say %s)"</font>, <a class="code" href="classSoccerCommand.html#m8">str</a> );
00745   <font class="keywordflow">else</font>
00746   {
00747     printf( <font class="stringliteral">"(SoccerCommand::makeSayCommand) no string filled in\n"</font> );
00748     <font class="keywordflow">return</font> <font class="keyword">false</font>;
00749   }
00750   <font class="keywordflow">return</font> <font class="keyword">true</font>;
00751 }
00752 
<a name="l00758"></a><a class="code" href="classSoccerCommand.html#c6">00758</a> <font class="keywordtype">bool</font> <a class="code" href="classSoccerCommand.html#c6">SoccerCommand::makeSenseBodyCommand</a>( <font class="keywordtype">char</font> *str  )
00759 {
00760   sprintf( <a class="code" href="classSoccerCommand.html#m8">str</a>,<font class="stringliteral">"(sense_body)"</font> );
00761   <font class="keywordflow">return</font> <font class="keyword">true</font>;
00762 }
00763 
<a name="l00770"></a><a class="code" href="classSoccerCommand.html#c7">00770</a> <font class="keywordtype">bool</font> <a class="code" href="classSoccerCommand.html#c7">SoccerCommand::makeTurnCommand</a>( <font class="keywordtype">char</font> *str  )