soccertypes.h

根据 trilearn_base_sources-3.3 (一般称做UVA底层)修改的robocup球队代码,对某些模块进行了详细的注释(例如BasicPlayer,WorldMode模块),并且进行

/*! The RefereeT enumeration contains all messages that the referee can sent.
    The SoccerTypes class contains different methods to convert these messages
    to the corresponding playmode. */
enum RefereeMessageT {
  REFC_ILLEGAL,                /*!< unknown message                          */
  REFC_BEFORE_KICK_OFF,        /*!< before_kick_off:   before kick off       */
  REFC_KICK_OFF_LEFT,          /*!< kick_off_l:        kickoff for left team */
  REFC_KICK_OFF_RIGHT,         /*!< kick_off_r:        kickoff for right team*/
  REFC_KICK_IN_LEFT,           /*!< kick_in_l:         kick in for left team */
  REFC_KICK_IN_RIGHT,          /*!< kick_in_r:         kick in for right team*/
  REFC_CORNER_KICK_LEFT,       /*!< corner_kick_l:     corner kick left team */
  REFC_CORNER_KICK_RIGHT,      /*!< corner_kick_r:     corner kick right team*/
  REFC_GOAL_KICK_LEFT,         /*!< goal_kick_l:       goal kick left team   */
  REFC_GOAL_KICK_RIGHT,        /*!< goal_kick_r:       goal kick right team  */
  REFC_FREE_KICK_LEFT,         /*!< free_kick_l:       free kick left team   */
  REFC_FREE_KICK_RIGHT,        /*!< free_kick_r:       free kick right team  */
  REFC_INDIRECT_FREE_KICK_RIGHT,/*!< indirect_free_kick_r: ind freekick right*/
  REFC_INDIRECT_FREE_KICK_LEFT,/*!< indirect_free_kick_l: ind. free kick left*/
  REFC_FREE_KICK_FAULT_LEFT,   /*!< free_kick_fault_l: free_kick to yourself */
  REFC_FREE_KICK_FAULT_RIGHT,  /*!< free_kick_fault_r: free_kick to yourself */
  REFC_BACK_PASS_LEFT,         /*!< back_pass_l:       left team passed back */
  REFC_BACK_PASS_RIGHT,        /*!< back_pass_r:       right team passed back*/
  REFC_PLAY_ON,                /*!< play_on:           play on (during match)*/
  REFC_TIME_OVER,              /*!< time_over:         time over(after match)*/
  REFC_FROZEN,                 /*!< frozen:            game play is frozen   */
  REFC_QUIT,                   /*!< quit:              quit                  */
  REFC_OFFSIDE_LEFT,           /*!< offside_l          offside left          */
  REFC_OFFSIDE_RIGHT,          /*!< offside_r          offside right         */
  REFC_HALF_TIME,              /*!< half_time:         it is half time       */
  REFC_TIME_UP,                /*!< time_up:           match has finished    */
  REFC_TIME_UP_WITHOUT_A_TEAM, /*!< time_up_without_a_team: match finished   */
  REFC_TIME_EXTENDED,          /*!< time_extended:     time cont. overtime   */
  REFC_FOUL_LEFT,              /*!< foul_l:            foul made by left     */
  REFC_FOUL_RIGHT,             /*!< foul_r:            foul made by right    */
  REFC_GOAL_LEFT,              /*!< goal_l:            goal made by left     */
  REFC_GOAL_RIGHT,             /*!< goal_r:            goal made by right    */
  REFC_DROP_BALL,              /*!< drop_ball:         ball is dropped       */
  REFC_GOALIE_CATCH_BALL_LEFT, /*!< goalie_catch_ball_l: left goalie catch   */
  REFC_GOALIE_CATCH_BALL_RIGHT,/*!< goalie_catch_ball_r: right goalie catch  */
  REFC_PENALTY_SETUP_LEFT,     /*!< penalty_setup_left left setup for penalty*/
  REFC_PENALTY_SETUP_RIGHT,    /*!< penalty_setup_right right setups for pen.*/
  REFC_PENALTY_READY_LEFT,     /*!< penalty_ready_left  ready for pen. l team*/
  REFC_PENALTY_READY_RIGHT,    /*!< penalty_ready_right ready for pen. r team*/
  REFC_PENALTY_TAKEN_LEFT,     /*!< penalty_ready_left  pen. taken by  l team*/
  REFC_PENALTY_TAKEN_RIGHT,    /*!< penalty_ready_right pen. taken by  r team*/
  REFC_PENALTY_MISS_LEFT,      /*!< penalty_miss_left   penalty missed r team*/
  REFC_PENALTY_MISS_RIGHT,     /*!< penalty_miss_right  penalty missed l team*/
  REFC_PENALTY_SCORE_LEFT,     /*!< penalty_score_left  penalty score l team */
  REFC_PENALTY_SCORE_RIGHT,    /*!< penalty_score_right penalty score r team */
  REFC_PENALTY_FOUL_LEFT,      /*!< penalty_foul_left   penalty foul l team  */
  REFC_PENALTY_FOUL_RIGHT,     /*!< penalty_foul_right  penalty foul r team  */
  REFC_PENALTY_ONFIELD_LEFT,   /*!< penalty_onfield_left pen. on left field  */
  REFC_PENALTY_ONFIELD_RIGHT,  /*!< penalty_onfield_right pen. on right field*/
  REFC_PENALTY_WINNER_LEFT,    /*!< penalty_winner_l    penalty won by r team*/
  REFC_PENALTY_WINNER_RIGHT,   /*!< penalty_winner_r    penalty won by l team*/
  REFC_PENALTY_DRAW            /*!< penalty_draw        penalty result = draw*/
} ;

/*! The ViewAngleT enumeration contains the different view angles that are
    possible for a player */
enum ViewAngleT  {
  VA_NARROW,  /*!< 窄范围   */
  VA_NORMAL,  /*!< 普通范围 */
  VA_WIDE,    /*!< 广范围   */
  VA_ILLEGAL  /*!< 无效范围 */
};

/*!The ViewQualityT enumeration contains the different view qualities possible
   for a player. */
enum ViewQualityT {
  VQ_HIGH,    /*!< 视觉质量高    */
  VQ_LOW,     /*!< 视觉质量低    */
  VQ_ILLEGAL  /*!< 无效的质量    */
};

/*!The SideT enumeration contains the two sides */
enum SideT {
  SIDE_LEFT,     /*!< left side    */
  SIDE_RIGHT,    /*!< right SIDE   */
  SIDE_ILLEGAL   /*!< illegal SIDE */
} ;

/*!The CommandT enumeration contains the different types for the SoccerCommand
   that are possible. */
enum CommandT {
  CMD_ILLEGAL,      /*!< illegal command */
  CMD_DASH,         /*!< dash command (player only)         */
  CMD_TURN,         /*!< turn command (player only)         */
  CMD_TURNNECK,     /*!< turn_neck command (player only)    */
  CMD_CHANGEVIEW,   /*!< change view command (player only)  */
  CMD_CATCH,        /*!< catch command (goalie only)        */
  CMD_KICK,         /*!< kick command (player only)         */
  CMD_MOVE,         /*!< move command                       */
  CMD_SENSEBODY,    /*!< sense_body command (player only)   */
  CMD_SAY,          /*!< say command                        */
  CMD_CHANGEPLAYER, /*!< change_player command (coach only) */
  CMD_ATTENTIONTO,  /*!< pay attention to specific player   */
  CMD_TACKLE,       /*!< tackle in current body direction   */
  CMD_POINTTO,      /*!< point arm towards a point on field */
  CMD_MAX_COMMANDS  /*!< maximum number of commands         */
} ;

/*!The PlayerT enumeration contains the different playertypes that are defined
   in a formation. This should not be confused with the later introducted
   player_types in soccerserver 7.xx that denotes the different possible
   heterogeneous players. A player type in the context PlayerT denotes the
   kind of player (midfielder, attacker) on the field. Its role on the pitch.*/
enum PlayerT {
  PT_ILLEGAL,             /*!< illegal player type */
  PT_GOALKEEPER,          /*!< goalkeeper          */
  PT_DEFENDER_CENTRAL,    /*!< central defender    */
  PT_DEFENDER_SWEEPER,    /*!< sweeper defender    */
  PT_DEFENDER_WING,       /*!< wing defender       */
  PT_MIDFIELDER_CENTER,   /*!< central midfielder  */
  PT_MIDFIELDER_WING,     /*!< wing midfielder     */
  PT_ATTACKER_WING,       /*!< wing attacker       */
  PT_ATTACKER,            /*!< central attacker    */
  MAX_PLAYER_TYPES
} ;

/*! The PlayerSetT enumeration contains different sets of playertypes that
    are defined in a formation. Possible sets are all midfielders, etc. */
enum PlayerSetT {
  PS_DEFENDERS,           /*!< all defenders       */
  PS_MIDFIELDERS,         /*!< all midfielders     */
  PS_ATTACKERS,           /*!< all attackers       */
  PS_ALL                  /*!< all players         */
} ;

/*!The FormationT enumeration contains the different formation types that
   are defined. */
enum FormationT {
  FT_ILLEGAL,             /*!< illegal formation type                  */
  FT_BlueSky_INIT,        /*!< 自定义初始阵形 (开球前)                    */
  FT_BlueSky_442A,        /*!< 自定义442攻击阵形                         */
  FT_BlueSky_442D,        /*!< 自定义442防御阵形                         */
  FT_BlueSky_352A,        /*!< 自定义352攻击阵形                         */
  FT_BlueSky_352D,        /*!< 自定义352防御阵形                         */
  FT_BlueSky_343,         /*!< 自定义343阵形                            */
  FT_BlueSky_433,         /*!< 自定义433阵形                            */
  MAX_FORMATION_TYPES
} ;

/*!The BallStatus enumeration contains the status of the ball. This is returned
   when the coach has issued the check_ball message. */
enum BallStatusT {
  BS_ILLEGAL,           /*!< illegal ball status      */
  BS_IN_FIELD,          /*!< ball is in the field     */
  BS_GOAL_LEFT,         /*!< ball is in left goal     */
  BS_GOAL_RIGHT,        /*!< ball is in right goal    */
  BS_OUT_OF_FIELD       /*!< ball is not in the field */
} ;

/*!The ActionT enumeration contains different (high-level) actions. */
enum ActionT {
  ACT_ILLEGAL,                    /*!< illegal action (default)              */
  ACT_SEARCH_BALL,                /*!< search for the ball                   */
  ACT_KICK_BALL,                  /*!< kick the ball                         */
  ACT_CATCH_BALL,                 /*!< catch the ball                        */
  ACT_INTERCEPT,                  /*!< intercept the ball                    */
  ACT_MARK,                       /*!< mark an opponent                      */
  ACT_TELEPORT_TO_STRATEGIC_POSITION, /*!< move to a strategic position(move)*/
  ACT_WATCH_BALL,                 /*!< watch the ball                        */
  ACT_ANTICIPATE_BALL,            /*!< turn in anticipation for ball         */
  ACT_GOTO_STRATEGIC_POSITION,    /*!< go to a strategic position (dash)     */
  ACT_TURN_BODY_TO_CENTER,        /*!< turn body to center of field          */
  ACT_MOVE_TO_DEAD_BALL_POSITION, /*!< move to pos in dead ball situation    */
  ACT_INTERCEPT_SCORING_ATTEMPT,  /*!< intercept ball heading to goal        */
  ACT_DEFEND_GOALLINE,            /*!< defend the goalline (for goalkeeper   */
  ACT_TELEPORT_AFTER_CATCH,       /*!< teleport after catch (for goalkeeper) */
  ACT_TACKLE,                     /*!< tackle the ball                       */
  ACT_HOLD_BALL                   /*!< hold the ball                         */
} ;


/*! The MarkT enumeration contains different marking techniques. */
enum MarkT {
  MARK_ILLEGAL,    /*!< illegal marking                                     */
  MARK_GOAL,       /*!< mark goal (stand on obj-goal line)                  */
  MARK_BISECTOR,   /*!< mark bisector stand between goal,obj and ball,obj   */
  MARK_BALL        /*!< mark ball (stand on obj-ball line)                  */
} ;

/*! The DribbleT enumeration contains different dribble possibilities. */
enum DribbleT {
  DRIBBLE_ILLEGAL, /*!< 无效的带球方式                                  */
  DRIBBLE_WITHBALL,/*!< 将球十分贴近身体的带球方式                        */
  DRIBBLE_SLOW,    /*!< 缓慢的带球方式                                  */
  DRIBBLE_FAST,    /*!< 快速的带球方式，会把球踢向前方较远处               */
  DRIBBLE_MAX      /*!< 最快的带球方式，容易丢球                         */
} ;

/*! The PassT enumeration contains different passing possibilities. */
enum PassT {
  PASS_ILLEGAL,    /*!< illegal pass                                        */
  PASS_FAST,       /*!< pass fast to a teammate                             */
  PASS_NORMAL,     /*!< pass normal to a teammate                           */
  PASS_SLOW        /*!< pass slow to a teammate                             */
} ;

/*! The ClearBallT enumeration contains different clear ball possibilities. */
enum ClearBallT {
  CLEAR_BALL_ILLEGAL,    /*!< illegal clear ball                            */
  CLEAR_BALL_OFFENSIVE,  /*!< clear ball to the front of the field          */
  CLEAR_BALL_DEFENSIVE,  /*!< clear ball to the center line of the field    */
  CLEAR_BALL_OFFENSIVE_SIDE, /*!< clear ball to front and side of the field */
  CLEAR_BALL_GOAL        /*!< clear ball to position in front of the goal   */
} ;

/*! The TiredNessT enumeration contains different values that indicate how
    tired an agent is. */
enum TiredNessT {
  TIREDNESS_ILLEGAL,     /*!< 无效                                    */
  TIREDNESS_GOOD,        /*!< 一点都不疲劳                             */
  TIREDNESS_AVERAGE,     /*!< 体力处于平均位置                          */
  TIREDNESS_BAD,         /*!< 球员开始疲劳                             */
  TIREDNESS_VERY_BAD,    /*!< 疲劳到难以移动了                          */
  TIREDNESS_TERRIBLE     /*!< 疲劳到无法移动了                          */
} ;

/*! The FeaturesT enumeration contains different features that can be saved.
    In this case, features represent specific information concerning the 
    current state. When specific information is calculated once (e.g., the 
    fastest opponent to the ball). This information can be stored. In the 
    next request for this information, the stored result is immediately 
    returned. */
enum FeatureT {
  FEATURE_ILLEGAL,                   /*!< illegal feature                    */
  FEATURE_FASTEST_OPPONENT_TO_BALL,  /*!< fastest opponent to the ball       */
  FEATURE_FASTEST_TEAMMATE_TO_BALL,  /*!< fastest teammate to the ball       */
  FEATURE_FASTEST_PLAYER_TO_BALL,    /*!< fastest player to the ball         */
  FEATURE_FASTEST_TEAMMATE_TO_BALL_NO_GOALIE, /*!< fastest teammate, no goali*/
  FEATURE_INTERCEPTION_POINT_BALL,   /*!< interception point ball            */
  FEATURE_INTERCEPT_CLOSE,           /*!< close interception point ball      */
  FEATURE_INTERCEPT_CYCLES_ME,       /*!< nr of cycles for me to intercept   */
  FEATURE_BEST_SCORING_POINT,        /*!< best scoring point in the goal     */
  MAX_FEATURES
} ;
  
/*! The DirectionT enumeration contains the different directions */
enum DirectionT {
  DIR_ILLEGAL,                 /*!< illegal message                          */
  DIR_NORTH,                   /*!< north direction                          */
  DIR_NORTHWEST,               /*!< north west direction                     */
  DIR_NORTHEAST,               /*!< north east direction                     */
  DIR_CENTER,                  /*!< center direction                         */
  DIR_EAST,                    /*!< east direction                           */
  DIR_WEST,                    /*!< west direction                           */
  DIR_SOUTHWEST,               /*!< south west direction                     */
  DIR_SOUTHEAST,               /*!< south east direction                     */
  DIR_SOUTH,                   /*!< south direction                          */
  DIR_MAX                      /*!< number of directions                     */
} ;

/*! The SucceedT enumeration contains the different succeed rate probabilites*/
enum SucceedT  {
  SUCCEED_ILLEGAL,             /*!< illegal message                          */
  SUCCEED_ALWAYS,              /*!< wil always succeed                       */
  SUCCEED_DOUBTFUL,            /*!< in some occassions it may succeed        */
  SUCCEED_NEVER                /*!< this will never succeed                  */