worldmodel.cpp

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

//  g : 需要搜寻的对象集合
//  dConf : 可信度阀值(搜寻的就是第一个可信度大于dConf的点)
/*
  //附：对象集合 的 枚举类型
  OBJECT_SET_TEAMMATES,           //我方队友                    
  OBJECT_SET_OPPONENTS,           //敌方队员                    
  OBJECT_SET_PLAYERS,             //球员                       
  OBJECT_SET_TEAMMATES_NO_GOALIE, //不包括守门员的队友           
  OBJECT_SET_FLAGS,               //标志（旗帜）                
  OBJECT_SET_LINES,               //边界线                     
  OBJECT_SET_ILLEGAL              //无效/错误的                 
*/
ObjectT WorldModel::iterateObjectStart(int& iIndex,ObjectSetT g,double dConf,
                       bool bForward)
{
  iIndex = -1;
  return iterateObjectNext( iIndex, g, dConf, bForward );
}

/*!This method gets the next object in the iteration over an object set g.
   iterateObjectStart should have been called first. Only ObjectT with a
   confidence higher than dConf will be returned. When no more objects are
   available OBJECT_ILLEGAL is returned.
   \param iIndex same argument as was supplied to iterateObjectStart.
   \param g ObjectSetT of which the ObjecT should be returned.
   \param dConf minimum confidence needed for ObjectT to be returned.
   \return ObjectT that is next in the set g. */
//  返回对象集合中下一个可信度超过dConf的物体
ObjectT WorldModel::iterateObjectNext(int& iIndex,ObjectSetT g, double dConf,
                      bool bForward)
{
  ObjectT o, objGoalie = OBJECT_TEAMMATE_1;
  bool bContinue = true;
  
  if( g == OBJECT_SET_TEAMMATES_NO_GOALIE )
    objGoalie = getOwnGoalieType();   //我方守门员
    
  if( iIndex < 0 )
    iIndex = (bForward==false) ? OBJECT_MAX_OBJECTS : -1 ;

  // when dConf is not specified it has the default value of -1.0, in this
  // case set it to the confidence threshold defined in PlayerSetting, but
  // only do this for dynamic objects, not for flags, lines, etc. since all
  // should be returend.
  // 只返回动态对象的可信度，静态对象不返回
  if( dConf == -1.0 && (g==OBJECT_SET_OPPONENTS || g==OBJECT_SET_PLAYERS ||
                        g==OBJECT_SET_TEAMMATES) )
    dConf = PS->getPlayerConfThr();

  int i = 0;
  if( bForward == true )
    i = iIndex + 1;
  else
    i = iIndex - 1;
  bContinue = ( bForward == false ) ? ( i >= 0 ) : ( i < OBJECT_MAX_OBJECTS ); 

  //循环遍历？
  while( bContinue )
  {
    o = (ObjectT) i;
    if( SoccerTypes::isInSet( o, g, objGoalie ) )
    {
      if( getConfidence( o ) >= dConf )
      {
        //当可信度高的时候，索引值改变
        iIndex = i;
        return o;
      }
      else if( dConf == 1.0 && getTimeLastSeeMessage() == getTimeLastSeen( o ))
      {
        //只有在当前周期看到球员的时候，可信度才可能为1.0
        iIndex = i; // confidence of 1.0 can only be in same cycle as see
        return o;   // message. Therefore first test should succeed normally;
      }             // in cases where this method is called after see message,
                    // but new sense has already arrived, confidence is lowered
    }               // but we want to return object that was seen in last see
                    // message; this compensates for those cases.
    if( bForward == true )
      i++;
    else
      i--;
    bContinue = ( bForward == false ) ? ( i >= 0 ) :( i < OBJECT_MAX_OBJECTS); 
  }

  return OBJECT_ILLEGAL;
}

/*!This method finsished the iteration. It should be called after
   iterateObjectNext has returned OBJECT_ILLEGAL indicating no more objects are
   available that satisfy the constraints.
   \param iIndex index of iteration */
//  ilndex置-1，用于结束iterateObjectStart/iterateObjectNext
void WorldModel::iterateObjectDone( int &iIndex )
{
  iIndex = -1;
}

/*! This method returns the ObjectType of the agent. This
    is an ObjectT between OBJECT_TEAMMATE_1 and OBJECT_TEAMMATE_11
    \return ObjectT that represent the type of the agent  */
//AGENT的对象类型
ObjectT WorldModel::getAgentObjectType( ) const
{
  return agentObject.getType();
}
//得到Agent的索引值
int WorldModel::getAgentIndex( ) const
{
  return SoccerTypes::getIndex( getAgentObjectType() );
}

/*! This method sets the ObjectType of the agent. This
    is an objectT between OBJECT_TEAMMATE_1 and OBJECT_TEAMMATE_11
    \param ObjectT that represent the type of the agent
    \return bool indicating whether the update was succesful */
//设置Agent的对象类型
bool WorldModel::setAgentObjectType( ObjectT o )
{
  agentObject.setType( o );
  return true;
}

/*! This method returns the body angle relative to the neck of the agent.
    \return AngDeg representing the body angle relative to the neck */
//返回agent的身体相对于脖子的角度
AngDeg WorldModel::getAgentBodyAngleRelToNeck( ) const
{
  return agentObject.getBodyAngleRelToNeck();
}

/*! This method returns the global neck angle of the agent in the world.
    \return global neck angle agent */
//返回脖子的绝对角度
AngDeg WorldModel::getAgentGlobalNeckAngle(  ) const
{
  return agentObject.getGlobalNeckAngle(  );
}

/*! This method returns the global body angle of the agent in the world.
    \return global body angle agent */
//返回agent的身体的绝对角度
AngDeg WorldModel::getAgentGlobalBodyAngle(  )
{
  return agentObject.getGlobalBodyAngle(  );
}

/*! This method returns the stamina information of the agent
    \return Stamina stamina of the agent */
//获得球员的体力
Stamina WorldModel::getAgentStamina( ) const
{
  return agentObject.getStamina();
}

/*! This method returns a TiredNessT value that indicates how tired the agent
   is.
     \return TiredNessT value that indicates how tired the agent is. */
//返回agent的疲劳指数
/*
  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                          *
*/
TiredNessT WorldModel::getAgentTiredNess( ) const
{
  return getAgentStamina().getTiredNess(
                      SS->getRecoverDecThr(), SS->getStaminaMax() );
}

/*! This method returns the effort information of the agent
    \return double effort of the agent */
//返回当前 agent 的体力利用率
double WorldModel::getAgentEffort( ) const
{
  return agentObject.getStamina().getEffort();
}

/*! This method returns the global velocity information of the agent
    \return global velocity of the agent */
//返回绝对速度（为一个向量）
VecPosition WorldModel::getAgentGlobalVelocity( ) const
{
  return agentObject.getGlobalVelocity();
}

/*! This method returns the speed of the agent
    \return speed of the agent */
//返回agent的速度
double WorldModel::getAgentSpeed( ) const
{
  return agentObject.getSpeed();
}

/*! This method returns the global position of the agent
    \return global position of the agent */
//绝对位置
VecPosition WorldModel::getAgentGlobalPosition( ) const
{
  return agentObject.getGlobalPosition();
}

/*! This method sets the view angle of the agent.
    \return bool indicating whether update was successful.  */
//设置agent的视觉角度
/*
  附：视觉范围的枚举：
  VA_NARROW,    // 窄范围
  VA_NORMAL,    // 普通范围
  VA_WIDE,      // 广范围
  VA_ILLEGAL    // 无效范围
  需要注意的是，视觉的范围增广，会导致视觉质量下降
*/
bool WorldModel::setAgentViewAngle( ViewAngleT va ) 
{
  agentObject.setViewAngle( va );
  return true;
}

/*! This method returns the view angle of the agent.  

    \return ViewAngleT view angle of the agent (VA_NARROW, VA_NORMAL,
    VA_WIDE)*/
//接收agent的视觉角度
ViewAngleT WorldModel::getAgentViewAngle( ) const
{
  return agentObject.getViewAngle();
}

/*! This method sets the view quality of the agent.
    \return bool indicating whether update was successful.  */
//设置视觉质量
/*
  视觉质量的枚举：
  VQ_HIGH,       // 视觉质量高    
  VQ_LOW,        // 视觉质量低    
  VQ_ILLEGAL     // 无效的质量    
*/
bool WorldModel::setAgentViewQuality( ViewQualityT vq ) 
{
  agentObject.setViewQuality( vq );
  return true;
}
/*! This method returns the view quality of the agent
    \return ViewQualityT of the agent (VA_LOW, VA_HIGH). */
//返回视觉质量
ViewQualityT WorldModel::getAgentViewQuality( ) const
{
  return agentObject.getViewQuality();
}

/*! This method returns the view frequency of see messages for the agent
    relative to the time of the sense_body interval. So 0.5 means a see
    message arrives twice in every simulation cycle.
    \return double representing the view frequency */
//返回Agent的视觉频率
//这个频率是相对于身体感觉间隔时间的，就是说0.5表示一个仿真周期内我们获得两次视觉信息
double WorldModel::getAgentViewFrequency( ViewAngleT va, ViewQualityT vq )
{
  double dViewQualityFactor ;
  double dViewWidthFactor   ;
  //非法视觉角度和质量
  if( va == VA_ILLEGAL )
    va = getAgentViewAngle();
  if( vq == VQ_ILLEGAL )
    vq = getAgentViewQuality();

  switch( va )
  { 
    //视觉角度的类型
    case VA_NARROW:  dViewWidthFactor   = 0.5; break;
    case VA_NORMAL:  dViewWidthFactor   = 1.0; break;
    case VA_WIDE:    dViewWidthFactor   = 2.0; break;
    case VA_ILLEGAL:
    default:         dViewWidthFactor   = 0.0; break;
  }

  switch( vq )
  {
    //视觉质量的类型
    case VQ_LOW:     dViewQualityFactor = 0.5; break;
    case VQ_HIGH:    dViewQualityFactor = 1.0; break;
    case VQ_ILLEGAL:
    default:         dViewQualityFactor = 0.0; break;
  }

  //获得最终的返回值
  //一般来说普通视觉角度高视觉质量可以每个周期获得一次视觉信息
  return dViewQualityFactor*dViewWidthFactor;
}

/*! This method returns whether the arm of the agent can be moved. */
//胳膊是否能移动
bool WorldModel::getAgentArmMovable( )
{
  return agentObject.getArmMovable();
}

/*! This method returns the current position the arm of the agent is 
    pointing towards. */
//接受当前agent胳膊的位置
VecPosition WorldModel::getAgentArmPosition( )
{
  return agentObject.getGlobalArmPosition();
}

/*! This method returns how many cycles it will last before the arm
    of the agent stops pointing. */
//返回Agent的指向动作所持续的周期数
int WorldModel::getAgentArmExpires( )
{
  return agentObject.getArmExpires();
}

/*! This method returns the global position of the ball. The method
    getConfidence with as argument OBJECT_BALL should be called to check the
    confidence of this global position.
    \return global position bal. */
//返回球的位置
VecPosition  WorldModel::getBallPos()
{
  return getGlobalPosition( OBJECT_BALL );
}

/*! This method returns the current estimate of the speed of the ball.
    \return speed of the ball (magnitude of the global velocity vector). */
//返回当前球速
double WorldModel::getBallSpeed()
{
  return Ball.getGlobalVelocity().getMagnitude();
}

/*! This method returns the global direction of the ball velocity.
    \return global direction of the ball velocity */
//返回当前球速的方向
AngDeg WorldModel::getBallDirection()