worldmodel.h

浙江大学中控杯仿真组机器人源码

  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,
                                             int            iTackleExpires,
                                             int            iArmMovable, 
                                             int            iArmExpires, 
                                             VecPosition    posArm           );
 void           processNewObjectInfo       ( ObjectT        o,
                                             Time           time,
                                             double         dDist,
                                             int            iDir,
                                             double         dDistChange,
                                             double         dDirChange,
                                             AngDeg         angRelBodyAng,
                                             AngDeg         angRelNeckAng,
                                             bool           isGoalie,
                                             ObjectT        objMin,
                                             ObjectT        objMax,
                                             double         dPointDir,
                                             bool           isTackling       );
 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       (                                 );
  bool          processRecvThink           ( bool           b                );

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

  // update with prediction for new cycle
  bool          updateAfterSenseMessage    (                                 );

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

  // update new cycle
  void          processLastSenseMessage    (                                 );
  bool          updateAgentAndBallAfterSense(                                );
  bool          updateBallAfterKick        ( SoccerCommand  soc              );
  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       );
  bool          calculateStateAgent3       ( 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                );


  // 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               );
  bool          getMinMaxDirChange         ( double         dOutput,
                                             double         *dMin,
                                             double         *dMax,
                                             double         x1               );
  bool          getMinMaxDistChange        ( double         dOutput,
                                             double         dDist,
                                             double         *dMin,
                                             double         *dMax,
                                             double         x1,
                                             double         xDist1,
                                             double         xDist2           );
  double        invQuantizeMin             ( double         dOutput,
                                             double         dQuantizeStep    );
  double        invQuantizeMax             ( double         dOutput,
                                             double         dQuantizeStep    );


public:
  // various update methods
  void          mapUnknownPlayers          ( Time           time             );
  bool          updateSSToHeteroPlayerType ( int            iPlayerType      );
  bool          resetTimeObjects           (                                 );
  void          removeGhosts               (                                 );


  ////////////////////////// PREDICTIONS (WorldModelPredict.C) ////////////////

  // predictions of worldmodel about future states of different objects
  bool          predictStateAfterCommand   ( SoccerCommand  com,
                                             VecPosition    *pos,
                                             VecPosition    *vel,
                                             AngDeg         *angGlobalBody,
                                             AngDeg         *angGlobalNeck,
                                             ObjectT        obj=OBJECT_ILLEGAL,
                                             Stamina        *sta = NULL      );
  bool          predictAgentStateAfterCommand(SoccerCommand com,
                                             VecPosition    *pos,
                                             VecPosition    *vel,
                                             AngDeg         *angBody,
                                             AngDeg         *angNeck,
                                             Stamina        *sta             );
  bool          predictObjectStateAfterCommand( ObjectT     obj,
                                             SoccerCommand com,
                                             VecPosition    *pos,
                                             VecPosition    *vel,
                                             AngDeg         *angBody,
                                             AngDeg         *angNeck,
                                             Stamina        *sta             );
  VecPosition   predictAgentPosAfterCommand( SoccerCommand  com              );
  void          predictStateAfterDash      ( double         dActualPower,
                                             VecPosition    *pos,
                                             VecPosition    *vel,
                                             Stamina        *sta,
                                             double         dDirection,
                                             ObjectT        o=OBJECT_ILLEGAL);
  void          predictStateAfterTurn      ( AngDeg         dSendAngle,
                                             VecPosition    *pos,
                                             VecPosition    *vel,
                                             AngDeg         *angBody,
                                             AngDeg         *angNeck,
                                             ObjectT        obj=OBJECT_ILLEGAL,
                                             Stamina        *sta = NULL      );
  void          predictBallInfoAfterCommand( SoccerCommand  soc,
                                             VecPosition    *pos = NULL,
                                             VecPosition    *vel = NULL      );
  VecPosition   predictPosAfterNrCycles    ( ObjectT        o,
                                             double         dCycles,
                                             int            iDashPower = 100,
                                             VecPosition    *posIn = NULL,
                                             VecPosition    *velIn = NULL,
                                             bool           bUpdate = true   );
  VecPosition   predictAgentPos            ( int            iCycles,
                                             int            iDashPower = 0   );
  VecPosition   predictFinalAgentPos       ( VecPosition    *pos = NULL,
                                             VecPosition    *vel = NULL      );
  int           predictNrCyclesForDistance ( ObjectT        o,
                                             double         dDist,
                                             double         dCurSpeed        );
  int           predictNrCyclesToPoint     ( ObjectT        o,
                                             VecPosition    posTo            );
  int           predictNrCyclesToObject    ( ObjectT        objFrom,
                                             ObjectT        objTo            );