objects.h

浙江大学中控杯仿真组机器人源码

/*
Copyright (c) 2000-2003, Jelle Kok, University of Amsterdam
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.

3. Neither the name of the University of Amsterdam nor the names of its
contributors may be used to endorse or promote products derived from this
software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

/*! \file Objects.h
<pre>
<b>File:</b>          Objects.h
<b>Project:</b>       Robocup Soccer Simulation Team: UvA Trilearn
<b>Authors:</b>       Jelle Kok
<b>Created:</b>       1/12/2000
<b>Last Revision:</b> $ID$
<b>Contents:</b>      class declarations Object, DynamicObject, FixedObject,
               PlayerObject, BallObject and Stamina
<hr size=2>
<h2><b>Changes</b></h2>
<b>Date</b>             <b>Author</b>          <b>Comment</b>
1/12/2001        Jelle Kok       Initial version created
</pre>
*/
#ifndef _OBJECTS_
#define _OBJECTS_

#include "SoccerTypes.h"  // needed for ObjectT

/*****************************************************************************/
/********************** CLASS OBJECT *****************************************/
/*****************************************************************************/

/*! Class Object contains RoboCup information that is available for all objects
    in the simulation. All (relative) information is relative to an agent as
    declared in AgentObject. Update of an object (or one of the subclasses)
    happens by calling the standard get and set methods available in these
    classes. Calculations on these attributes do not occur in these classes,
    but in the update methods of the WorldModel. */
class Object
{
protected:
  ObjectT     objectType;             /*!< Type of this object               */
  Time        timeLastSeen;           /*!< Time last see message has arrived */

  VecPosition posGlobal;              /*!< Global position in the field      */
  Time        timeGlobalPosition;     /*!< Server time of global position    */
  VecPosition posRelative;            /*!< Relative position of the object   */
  Time        timeRelativePosition;   /*!< Server time of relative position  */
  VecPosition posGlobalLastSee;       /*!< Global position of last see msg   */
  Time        timeGlobalPosDerivedFromSee;/*!< Time pos derived from see msg */


public:
  Object( );

  /*! abstract function that should be defined in a subclass */
  virtual void show( ostream& os = cout ) = 0;

  // non-standard get and set methods (all defined here)
  AngDeg      getRelativeAngle              (                                );
  double      getRelativeDistance           (                                );
  double      getConfidence                 ( Time        time               );

  // standard get and set methods
  bool        setType                       ( ObjectT     o                  );
  ObjectT     getType                       (                          ) const;

  bool        setRelativePosition           ( double      dDist,
                                              AngDeg      dAng,
                                              Time        time               );
  bool        setRelativePosition           ( VecPosition v,
                                              Time        time               );
  VecPosition getRelativePosition           (                          ) const;

  bool        setTimeRelativePosition       ( Time        time               );
  Time        getTimeRelativePosition       (                          ) const;

  bool        setGlobalPosition             ( VecPosition p,
                                              Time        time               );
  VecPosition getGlobalPosition             (                          ) const;

  bool        setTimeGlobalPosition         ( Time        time               );
  Time        getTimeGlobalPosition         (                          ) const;

  bool        setGlobalPositionLastSee      ( VecPosition p,
                                              Time        time               );
  VecPosition getGlobalPositionLastSee      (                          ) const;

  bool        setTimeGlobalPosDerivedFromSee( Time        time               );
  Time        getTimeGlobalPosDerivedFromSee(                          ) const;

  bool        setTimeLastSeen               ( Time        time               );
  Time        getTimeLastSeen               (                          ) const;

};

/*****************************************************************************/
/********************** CLASS FIXEDOBJECT ************************************/
/*****************************************************************************/

/*! Class FixedObject contains RoboCup information that is available for
    objects that cannot move (flags, goals, lines). No additional information
    is added to the superclass Object. */
class FixedObject : public Object
{
public:
  // specific methods
  VecPosition getGlobalPosition( SideT s, double dGoalWidth = 14.02 ) const;
  AngDeg      getGlobalAngle   ( SideT s                                  );

  void show                    ( ostream & os = cout                      );
};

/*****************************************************************************/
/********************** CLASS DYNAMICOBJECT **********************************/
/*****************************************************************************/

/*! Class DynamicObject contains RoboCup information that is available for
    objects that can move (players, ball). Different variables are added to
    the superclass Object */
class DynamicObject: public Object
{
protected:

  // global velocity information
  VecPosition vecGlobalVelocity;      /*!< Global velocity of the player     */
  Time        timeGlobalVelocity;     /*!< Time of the corresponding velocity*/

  // sensor information
  double      dRelativeDistanceChange;/*!< Relative distance change          */
  double      dRelativeAngleChange;   /*!< Relative angle change             */
  Time        timeChangeInformation;  /*!< Time of change information        */
  
  VecPosition vecGlobalVelocityLastSee;/*!< vel. derived from last see       */


public:
  DynamicObject( );

  // standard get and set methods
  bool        setRelativeDistanceChange( double      d,   Time time );
  double      getRelativeDistanceChange(                            ) const;

  bool        setRelativeAngleChange   ( double      d,   Time time );
  double      getRelativeAngleChange   (                            ) const;

  bool        setTimeChangeInformation ( Time        time           );
  Time        getTimeChangeInformation (                            )  const;

  bool        setGlobalVelocity        ( VecPosition v,   Time time );
  VecPosition getGlobalVelocity        (                            )  const;
  double      getSpeed                 (                            )  const;

  bool        setTimeGlobalVelocity    ( Time        time           );
  Time        getTimeGlobalVelocity    (                            )  const;
  
  bool        setGlobalVelocityLastSee ( VecPosition vec            );
  VecPosition getGlobalVelocityLastSee (                            )   const;

};

/*****************************************************************************/
/********************* CLASS PLAYEROBJECT ************************************/
/*****************************************************************************/

/*! Class PlayerObject contains RoboCup information that is available for
    players. Different variables are added to the superclass DynamicObject   */