instintive.h.svn-base

一个巴西大学编写的2D仿真组足球机器人程序

/*
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 */

#ifndef INSTINTIVE_H
#define INSTINTIVE_H

#include <sstream>

#include <src/Agent/Behavior.h>

#include <src/Expert-Coop++/InferenceEngine.h>
#include <src/Expert-Coop++/FactsBase.h>
#include <src/Expert-Coop++/RulesBase.h>

#include "Message.h"

/*! PlayerPositionT eh uma enumeracao das posiveis areas onde pode estar 
    localizado o agente. */
enum PlayerPositionT {
  AREA_ILLEGAL,                /*!< localizacao ilegal                       */
  AREA_DEFENSE,                /*!< localizacao de defesa                    */
  AREA_SIDE_DEFENSE,           /*!< laterais na defesa                       */
  AREA_CENTRAL_DEFENSE,        /*!< atras do meio campo                      */
  AREA_ATTACK,                 /*!< localizacao de ataque                    */
  AREA_SIDE_ATTACK,            /*!< latereais no ataque                      */
  AREA_CENTRAL,                /*!< meio campo                               */
  AREA_CENTRAL_ATTACK,         /*!< a frente do meio campo                   */
  AREA_SIDE                    /*!< laterais do meio campo                   */
};

class Instintive
{
 private:
   WorldModel*       WM;
   PlayerSettings*   PS;
   ServerSettings*   SS;
   InferenceEngine   mInferenceEngine;
   RulesBase         mRulesBase;
   FactsBase         mFactsBase;
   // vari�veis para auxiliar na atualiza��o da base de fatos
   bool              pastConfidenceToPass3;
   bool              pastConfidenceToPass4;
   bool              pastConfidenceToPass5;
   bool              pastConfidenceToPass6;
   bool              pastConfidenceToPass7;
   bool              pastConfidenceToPass8;
   bool              pastConfidenceToPass9;
   bool              pastConfidenceToPass10;
   bool              pastConfidenceToPass11;
   bool              pastConfidenceForKick;
   bool              pastPlayMode;
   bool              pastAgentFrontFreeSpace;
   bool              pastBallKickable;
   bool              pastBallOurPossesion;
   bool              pastBallPossesionOpponent;
   bool              pastFastestToBall;
   bool              pastCloseToPlayer;
   bool              pastBallPositonKnown;
   //bool              pastBallAtuationZone;
   bool              pastAgentNextLineR;
   bool              pastAgentNextLineOfDeep;
   bool              pastBallMidplayerPossesion; 
   bool              pastBallAttackplayerPossesion; 
   bool              pastTeammateSick;
   string            pastPositionOpponent1;
   string            pastBestOptionKick;
   string            pastDeadBall;
   ObjectT           pastChoosePass9;
   ObjectT           pastChoosePass2;
   ObjectT           pastChoosePass5;
   ObjectT           pastChoosePass3;
   ObjectT           pastChoosePass4;
   ObjectT           pastChoosePass6;
   ObjectT           pastChoosePass7;
   ObjectT           pastChoosePass8;
   PlayerPositionT   pastPlayerLocalization;
   PlayerPositionT   pastBallLocalization;
   LocalGoal         m_localGoal;
   bool              pastBackGoalie;
   double            pastDistanceToGoalie;
   //A bola está na esquerda?
   bool              pastBallLeftPosition;
   bool              pastBallSouthPosition;
   bool              pastPlayerLeftPosition;
   bool              pastPlayerSouthPosition;
   string            pastOpponentLocalization;

   bool              updateFactsBase      (                                  );
   PlayerPositionT   getLocalization      (  VecPosition position            );
   string            getLocalizationString(  VecPosition position            );
   string            getModeUsOrThemString(                                  );
   string            getPlayModeString    (                                  );
   double            getSafetyToPass      ( VecPosition      posA, 
                                            VecPosition      posM            );
   double            getSafetyToKick      ( VecPosition      posA, 
                                            VecPosition      posM            );
   bool              confidenceToPass     ( ObjectT          teamMate        );
   string            bestOptionForKick    (                                  );
   bool              confidenceToKick     (                                  );
   string            ModeUsOrThem         (                                  );
   bool              atuationZone         (    VecPosition pos               );
   bool              teammateIsSick       (                                  );
   string            getOpponentLocalization(                                );
   bool              closeOpponentHasBall (                                  );
   //metodos implementados por Timoteo
   //string            getPositionYOpponent1(                                  );
   ObjectT           objectTeammateCloser ( ObjectT          obj1,
                                            ObjectT          obj2            );
   bool              isBallInMidplayerPossesion(                             );
   bool              isBallInAttackplayersPossesion(                         );
   list<ObjectT>     getListCloseOpponents ( VecPosition pos,
                                             double dDist, double dDist2     );
   ObjectT           getClosestInSetTo    ( Line l,
                                            VecPosition pos1,   VecPosition pos2,
                                            double *dDistObjToLine,
                                            double *dDistPos1ToPoint );

 public:
   Instintive                             (                                  );
   void              loadRulesBase        (                                  );
   string            makeInference        (                                  );
   void              update               ( LocalGoal        lc              );
   LocalGoal         getLocalGoal         (                                  );
   string            getBallLocalization  (                                  );
};

#endif