worldmodel.h

机器足球2D比赛程序 对trlen_base_2002的改进

				ObjectSetT     g,
				double         dConf = -1.0      );
		ObjectT       iterateObjectNext          ( int            &iIndex,
				ObjectSetT     g,
				double         dConf = -1.0      );
		void          iterateObjectDone          ( int            &iIndex           );

		// get and set methods for agent information
		ObjectT       getAgentObjectType         (                            ) const;
		bool          setAgentObjectType         ( ObjectT        o           );
		AngDeg        getAgentBodyAngleRelToNeck (                            ) const;
		AngDeg        getAgentGlobalNeckAngle    (                            ) const;
		AngDeg        getAgentGlobalBodyAngle    (                            );
		Stamina       getAgentStamina            (                            ) const;
		TiredNessT    getAgentTiredNess          (                            ) const;  
		double        getAgentEffort             (                            ) const;
		VecPosition   getAgentGlobalVelocity     (                            ) const;
		double        getAgentSpeed              (                            ) const;
		VecPosition   getAgentGlobalPosition     (                            ) const;
		ViewAngleT    getAgentViewAngle          (                            ) const;
		ViewQualityT  getAgentViewQuality        (                            ) const;
		double        getAgentViewFrequency      ( ViewAngleT     va = VA_ILLEGAL,
				ViewQualityT   vq = VQ_ILLEGAL   );

		// get methods for ball information
		VecPosition   getBallPos                 (                                  );
		double        getBallSpeed               (                                  );
		AngDeg        getBallDirection           (                                  );

		// get method for different information about a specific object
		Time          getTimeGlobalPosition      ( ObjectT        o                 );
		VecPosition   getGlobalPosition          ( ObjectT        o                 );
		Time          getTimeGlobalVelocity      ( ObjectT        o                 );
		VecPosition   getGlobalVelocity          ( ObjectT        o                 );
		double        getRelativeDistance        ( ObjectT        o                 );
		VecPosition   getRelativePosition        ( ObjectT        o                 );
		AngDeg        getRelativeAngle           ( ObjectT        o,
				bool           bWithBody = false );
		Time          getTimeGlobalAngles        ( ObjectT        o                 );
		AngDeg        getGlobalBodyAngle         ( ObjectT        o                 );
		AngDeg        getGlobalNeckAngle         ( ObjectT        o                 );
		AngDeg        getGlobalAngle             ( ObjectT        o                 );
		double        getConfidence              ( ObjectT        o                 );
		bool          isKnownPlayer              ( ObjectT        o                 );
		ObjectT       getOppGoalieType           (                                  );
		ObjectT       getOwnGoalieType           (                                  );
		Time          getTimeLastSeen            ( ObjectT        o                 );
		Time          getTimeChangeInformation   ( ObjectT        o                 );

		// set methods for objects
		bool          setIsKnownPlayer           ( ObjectT        o,
				bool           isKnownPlayer     );
		bool          setTimeLastSeen            ( ObjectT        o,
				Time           time              );


		// get method for information about goals
		VecPosition   getPosOpponentGoal         (                                  );
		VecPosition   getPosOwnGoal              (                                  );
		double        getRelDistanceOpponentGoal (                                  );
		AngDeg        getRelAngleOpponentGoal    (                                  );


		// get methods about fixed specifications (heterogeneous players)
		HeteroPlayerSettings getInfoHeteroPlayer ( int iIndex                       );

		// get method about previous commands
		bool          isQueuedActionPerformed    (                                  );

		// methodst hat return truth values about current play mode
		bool          isFreeKickUs               (  PlayModeT pm = PM_ILLEGAL       );
		bool          isFreeKickThem             (  PlayModeT pm = PM_ILLEGAL       );
		bool          isCornerKickUs             (  PlayModeT pm = PM_ILLEGAL       );
		bool          isCornerKickThem           (  PlayModeT pm = PM_ILLEGAL       );
		bool          isOffsideUs                (  PlayModeT pm = PM_ILLEGAL       ); 
		bool          isOffsideThem              (  PlayModeT pm = PM_ILLEGAL       ); 
		bool          isKickInUs                 (  PlayModeT pm = PM_ILLEGAL       ); 
		bool          isKickInThem               (  PlayModeT pm = PM_ILLEGAL       ); 
		bool          isFreeKickFaultUs          (  PlayModeT pm = PM_ILLEGAL       ); 
		bool          isFreeKickFaultThem        (  PlayModeT pm = PM_ILLEGAL       ); 
		bool          isKickOffUs                (  PlayModeT pm = PM_ILLEGAL       );
		bool          isKickOffThem              (  PlayModeT pm = PM_ILLEGAL       );
		bool          isBackPassUs               (  PlayModeT pm = PM_ILLEGAL       );
		bool          isBackPassThem             (  PlayModeT pm = PM_ILLEGAL       );
		bool          isGoalKickUs               (  PlayModeT pm = PM_ILLEGAL       );
		bool          isGoalKickThem             (  PlayModeT pm = PM_ILLEGAL       );
		bool          isBeforeKickOff            (  PlayModeT pm = PM_ILLEGAL       ); 
		bool          isDeadBallUs               (  PlayModeT pm = PM_ILLEGAL       ); 
		bool          isDeadBallThem             (  PlayModeT pm = PM_ILLEGAL       ); 
		bool          isPenaltyUs                (  PlayModeT pm = PM_ILLEGAL       );
		bool          isPenaltyThem              (  PlayModeT pm = PM_ILLEGAL       );  

		SideT         getSidePenalty             (                                  );
		bool          setSidePenalty             ( SideT          side              );

		////////////////////////// UPDATE METHODS (WorldModelUpdate.C) ////////////////

		// processing new information about the objects (filling World Model).
		void          processSeeGlobalInfo       ( ObjectT        o,
				Time           time,
				VecPosition    pos,
				VecPosition    vel,
				AngDeg         angBody,
				AngDeg         angNeck           );
		bool          processNewAgentInfo        ( ViewQualityT   vq,
				ViewAngleT     va,
				double         dStamina,
				double         dEffort,
				double         dSpeed,
				AngDeg         angSpeed,
				AngDeg         angHeadAngle      );
		void           processNewObjectInfo       ( ObjectT        o,
				Time           time,
				double         dDist,
				int            iDir,
				double         dDistChange,
				double         dDirChange,
				AngDeg         angRelBodyAng,
				AngDeg         angRelNeckAng,
				bool           isGoalie,
				ObjectT        objMin,
				ObjectT        objMax            );
		bool           processPerfectHearInfo     ( ObjectT        o,
				VecPosition    pos,
				double         dConf,
				bool           bIsGoalie=0       );
		bool           processPerfectHearInfoBall ( VecPosition    pos,
				VecPosition    vel,
				double         dConf             );
		bool           processUnsureHearInfo      ( ObjectT        o,
				VecPosition    pos,
				double         dConf             );
		bool           processNewHeteroPlayer     ( int            iIndex,
				double         dPlayerSpeedMax,
				double         dStaminaIncMax,
				double         dPlayerDecay,
				double         dInertiaMoment,
				double         dDashPowerRate,
				double         dPlayerSize,
				double         dKickableMargin,
				double         dKickRand,
				double         dExtraStamina,
				double         dEffortMax,
				double         dEffortMin        );
		void          processCatchedBall         ( RefereeMessageT rm,
				Time           time              );
		void          processQueuedCommands      ( SoccerCommand  commands[],
				int            iCommands         );
		bool          storePlayerMessage         ( int            iPlayer, 
				char           *strMsg, 
				int            iCycle            ); 
		bool          processPlayerMessage       (                                  );                                                                                          

		// update methods (defined in WorldModelUpdate.C)
		bool          updateAll                  (                                  );

	private:       
		// update with new visual information
		void          processLastSeeMessage      (                                  );
		bool          updateAfterSeeMessage      (                                  );
		bool          updateAgentObjectAfterSee  (                                  );
		bool          updateDynamicObjectAfterSee( ObjectT        o                 );

		// update with prediction for new cycle
		bool          updateAfterSenseMessage    (                                  );
		bool          updateAgentAndBallAfterSense(                                 );
		bool          updateBallAfterKick        ( double         dPower,
				AngDeg         ang               );
		bool          updateDynamicObjectForNextCycle( ObjectT    o,
				int            iCycle            );
		bool          updateBallForCollision     ( VecPosition    posAgent          );

		// update from relative to global and vice versa
		bool          updateRelativeFromGlobal   (                                  );
		bool          updateObjectRelativeFromGlobal( ObjectT     o                 );

		// methods to determine agent state from perceived information
		bool          calculateStateAgent        ( VecPosition    *posGlobal,
				VecPosition    *velGlobal,
				AngDeg         *angGlobal        );
		void          initParticlesAgent         ( AngDeg         angGlobal         );
		void          initParticlesAgent         ( VecPosition    posInitital       );
		int           checkParticlesAgent        ( AngDeg         angGlobalNeck     );
		void          updateParticlesAgent       ( VecPosition    vel,
				bool           bAfterSense       );
		VecPosition   averageParticles           ( VecPosition    posArray[],
				int            iLength           );
		void          resampleParticlesAgent     ( int            iLeft             );
		bool          calculateStateAgent2       ( VecPosition    *posGlobal,
				VecPosition    *velGlobal,
				AngDeg         *angGlobal        );
		VecPosition   calculatePosAgentWith2Flags( ObjectT        objFlag1,
				ObjectT        objFlag2          );
		AngDeg        calculateAngleAgentWithPos ( VecPosition    pos               );


		// methods to determine ball state from perceived information
		bool          calculateStateBall         ( VecPosition    *posGlobal,
				VecPosition    *velGlobal        );
		void          initParticlesBall         (  VecPosition    posArray[],
				VecPosition    velArray[],
				int            iLength           );
		void          checkParticlesBall        (  VecPosition    posArray[],
				VecPosition    velArray[],
				int            iLength,
				int            *iNrLeft          );
		void          updateParticlesBall       (  VecPosition    posArray[],
				VecPosition    velArray[],
				int            iLength,
				double         dPower,
				AngDeg         ang               );
		void          resampleParticlesBall      ( VecPosition    posArray[],
				VecPosition    velArray[],
				int            iLength,
				int            iLeft             );
		ObjectT       getMaxRangeUnknownPlayer   ( ObjectT        obj, 
				char*          strMsg            );
		VecPosition   calculateVelocityDynamicObject( ObjectT     o                 );
		bool          calculateStateBall2        ( VecPosition    *posGlobal,
				VecPosition    *velGlobal        );


		// methods to determine player state from perceived information
		bool          calculateStatePlayer       ( ObjectT        o,
				VecPosition    *posGlobal,
				VecPosition    *velGlobal        );

		// methods to calculate noise range (quantized noise)
		bool          getMinMaxDistQuantizeValue ( double         dInput,
				double         *dMin,
				double         *dMax,
				double         x1,
				double         x2                );