generatedata.cpp

FIRA 5V5比赛中一个机器人源代码 本科毕业设计做的

// GenerateData.cpp: implementation of the CGenerateData class.
//
//////////////////////////////////////////////////////////////////////

#include "stdafx.h"
#include "math.h"
#include "Strategy.h"
#include "GenerateData.h"

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////

CGenerateData::CGenerateData(Environment *envPointer, UserDefStruct *UserDataPointer)
{
	UserData = UserDataPointer;
	env = envPointer;
}

CGenerateData::~CGenerateData()
{

}

double CGenerateData::CalculatePointToPointDistance(Vector3D StartPoint, Vector3D EndPoint)
{
	double dy, dx, Distance;
	dy = StartPoint.y - EndPoint.y;
	dx = StartPoint.x - EndPoint.x;
	Distance = sqrt( (dy * dy) + (dx * dx) );
	return Distance;
}

double CGenerateData::CalculatePointToPointAngleDegree(Vector3D StartPoint, Vector3D EndPoint)
{
	double dy, dx, Angle;
	dy = StartPoint.y - EndPoint.y;
	dx = StartPoint.x - EndPoint.x;
	Angle = ( atan2(dy, dx) ) * ( 180.0 / PI ) ;
	return Angle;
}

double CGenerateData::CalculatePointToPointAngleRadian(Vector3D StartPoint, Vector3D EndPoint)
{
	double dy, dx, Angle;
	dy = StartPoint.y - EndPoint.y;
	dx = StartPoint.x - EndPoint.x;
	Angle = ( atan2(dy, dx) );
	return Angle;
}

void CGenerateData::GenerateGoalPoint(Vector3D HomeGoalPoint[GoalPointAccuracy], Vector3D OpponentGoalPoint[GoalPointAccuracy])
{
	double GoalBottom = GBOTY;
	double GoalTop = GTOPY;

	for(int i=0;i<GoalPointAccuracy;i++)
	{
		HomeGoalPoint[i].x = FLEFTX;
		HomeGoalPoint[i].y = (((GoalTop - GoalBottom) / (GoalPointAccuracy)) * i) + GoalBottom;
		HomeGoalPoint[i].z = 0;

		HomeGoalPoint[i].x = FRIGHTX;
		OpponentGoalPoint[i].y = (((GoalTop - GoalBottom) / (GoalPointAccuracy)) * i) + GoalBottom;
		HomeGoalPoint[i].z = 0;
	}
	return;
}

GeneratedDataSetParentStruct CGenerateData::CalculateAllData()
{
	int i, j;
	GeneratedDataSetParentStruct DistanceAngleData;
	Vector3D HomeGoalPoint[GoalPointAccuracy];
	Vector3D OpponentGoalPoint[GoalPointAccuracy];
	
	GenerateGoalPoint(HomeGoalPoint, OpponentGoalPoint);

	//Data Between Home And Opponent Robot
	for(i=0;i<PLAYERS_PER_SIDE;i++)
	{
		for(j=0;j<PLAYERS_PER_SIDE;j++)
		{
			DistanceAngleData.Home[i].ToOpponent[j].Distance = CalculatePointToPointDistance(UserData->HomeRobotData[i].Position, UserData->OpponentRobotData[j].Position);
			DistanceAngleData.Opponent[i].ToHome[j].Distance = CalculatePointToPointDistance(UserData->OpponentRobotData[j].Position, UserData->HomeRobotData[i].Position);
			DistanceAngleData.Home[i].ToOpponent[j].Angle.Degree = CalculatePointToPointAngleDegree(UserData->HomeRobotData[i].Position, UserData->OpponentRobotData[j].Position);
			DistanceAngleData.Opponent[i].ToHome[j].Angle.Degree = CalculatePointToPointAngleDegree(UserData->OpponentRobotData[j].Position, UserData->HomeRobotData[i].Position);
			DistanceAngleData.Home[i].ToOpponent[j].Angle.Radian = CalculatePointToPointAngleRadian(UserData->HomeRobotData[i].Position, UserData->OpponentRobotData[j].Position);
			DistanceAngleData.Opponent[i].ToHome[j].Angle.Radian = CalculatePointToPointAngleRadian(UserData->OpponentRobotData[j].Position, UserData->HomeRobotData[i].Position);
		}
	}

	for(i=0;i<PLAYERS_PER_SIDE;i++)
	{
		for(j=0;j<GoalPointAccuracy;j++)
		{
			DistanceAngleData.Home[i].ToHomeGoalPoint[j].Distance = CalculatePointToPointDistance(UserData->HomeRobotData[i].Position, HomeGoalPoint[j]);
			DistanceAngleData.Home[i].ToOpponentGoalPoint[j].Distance = CalculatePointToPointDistance(UserData->HomeRobotData[i].Position, OpponentGoalPoint[j]);
			DistanceAngleData.Opponent[i].ToHomeGoalPoint[j].Distance = CalculatePointToPointDistance(UserData->OpponentRobotData[i].Position, HomeGoalPoint[j]);
			DistanceAngleData.Opponent[i].ToOpponentGoalPoint[j].Distance = CalculatePointToPointDistance(UserData->OpponentRobotData[i].Position, OpponentGoalPoint[j]);

			DistanceAngleData.Home[i].ToHomeGoalPoint[j].Angle.Degree = CalculatePointToPointAngleDegree(UserData->HomeRobotData[i].Position, HomeGoalPoint[j]);
			DistanceAngleData.Home[i].ToOpponentGoalPoint[j].Angle.Degree = CalculatePointToPointAngleDegree(UserData->HomeRobotData[i].Position, OpponentGoalPoint[j]);
			DistanceAngleData.Opponent[i].ToHomeGoalPoint[j].Angle.Degree = CalculatePointToPointAngleDegree(UserData->OpponentRobotData[i].Position, HomeGoalPoint[j]);
			DistanceAngleData.Opponent[i].ToOpponentGoalPoint[j].Angle.Degree = CalculatePointToPointAngleDegree(UserData->OpponentRobotData[i].Position, OpponentGoalPoint[j]);

			DistanceAngleData.Home[i].ToHomeGoalPoint[j].Angle.Radian = CalculatePointToPointAngleRadian(UserData->HomeRobotData[i].Position, HomeGoalPoint[j]);
			DistanceAngleData.Home[i].ToOpponentGoalPoint[j].Angle.Radian = CalculatePointToPointAngleRadian(UserData->HomeRobotData[i].Position, OpponentGoalPoint[j]);
			DistanceAngleData.Opponent[i].ToHomeGoalPoint[j].Angle.Radian = CalculatePointToPointAngleRadian(UserData->OpponentRobotData[i].Position, HomeGoalPoint[j]);
			DistanceAngleData.Opponent[i].ToOpponentGoalPoint[j].Angle.Radian = CalculatePointToPointAngleRadian(UserData->OpponentRobotData[i].Position, OpponentGoalPoint[j]);
		}
	}

	return DistanceAngleData;
}