📄 worldmodel.h
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void predictStaminaAfterDash ( double dPower,
Stamina *sta );
SoccerCommand predictCommandTurnTowards ( ObjectT obj,
VecPosition posTo,
int iCycles,
double dDistBack,
bool bMoveBack,
VecPosition *pos = NULL,
VecPosition *vel = NULL,
AngDeg *angBody = NULL );
SoccerCommand predictCommandToMoveToPos ( ObjectT obj,
VecPosition posTo,
int iCycles,
double dDistBack = 2.5,
bool bMoveBack = false,
VecPosition *pos = NULL,
VecPosition *vel = NULL,
AngDeg *angBody = NULL );
SoccerCommand predictCommandToInterceptBall( ObjectT obj,
SoccerCommand soc,
int *iCycles = NULL ,
VecPosition *posIntercept=NULL,
VecPosition *pos = NULL,
VecPosition *vel = NULL,
AngDeg *angBody = NULL );
bool isCollisionAfterCommand ( SoccerCommand soc );
////////////////////////// HIGH-LEVEL METHODS (WorldModelHighLevel.C) ///////
// methods that return the number of players in a certain area of the field
int getNrInSetInRectangle ( ObjectSetT objectSet,
Rect *rect = NULL );
int getNrInSetInCircle ( ObjectSetT objectSet,
Circle c );
int getNrInSetInCone ( ObjectSetT objectSet,
double dWidth,
VecPosition start,
VecPosition end );
bool isEmptySpace ( ObjectT obj,
AngDeg ang,
double dDist = 4.0 );
bool coordinateWith ( ObjectT obj );
// method that return the closest or fastest player to a certain pos orobject
ObjectT getClosestInSetTo ( ObjectSetT objectSet,
ObjectT o ,
double *dDist = NULL,
double dConfThr = -1.0 );
ObjectT getClosestInSetTo ( ObjectSetT objectSet,
VecPosition pos,
double *dDist = NULL,
double dConfThr = -1.0 );
ObjectT getClosestInSetTo ( ObjectSetT objectSet,
Line l,
VecPosition pos1,
VecPosition pos2,
double *dDistToLine= NULL,
double *dDistPos1To=NULL);
ObjectT getClosestRelativeInSet ( ObjectSetT set,
double *dDist = NULL );
ObjectT getSecondClosestInSetTo ( ObjectSetT objectSet,
ObjectT o,
double *dDist = NULL,
double dConfThr = -1.0 );
ObjectT getSecondClosestRelativeInSet( ObjectSetT set,
double *dDist = NULL );
void createInterceptFeatures ( );
ObjectT getFastestInSetTo ( ObjectSetT objectSet,
ObjectT o,
int *iCycles = NULL );
ObjectT getFastestInSetTo ( ObjectSetT objectSet,
VecPosition pos,
VecPosition vel,
double dDecay,
int *iCycles = NULL );
ObjectT getFurthestInSetTo ( ObjectSetT objectSet,
ObjectT o ,
double *dDist = NULL,
double dConfThr = -1.0 );
ObjectT getFurthestRelativeInSet ( ObjectSetT set,
double *dDist = NULL );
VecPosition getPosClosestOpponentTo ( double *dDist = NULL,
ObjectT o =OBJECT_ILLEGAL);
double getMaxTraveledDistance ( ObjectT o );
// various methods dealing with sets of objects
ObjectT getFirstEmptySpotInSet ( ObjectSetT objectSet,
int iUnknownPlayer=-1);
// boolean methods that indicate whether an object fulfills a constraint
bool isVisible ( ObjectT o );
bool isBallKickable ( );
bool isBallCatchable ( );
bool isBallHeadingToGoal ( );
bool isBallInOurPossesion ( );
bool isBallInOwnPenaltyArea ( );
bool isInOwnPenaltyArea ( VecPosition pos );
bool isInTheirPenaltyArea ( VecPosition pos );
bool isConfidenceGood ( ObjectT );
bool isConfidenceVeryGood ( ObjectT );
bool isOnside ( ObjectT );
bool isOpponentAtAngle ( AngDeg ang,
double dDist );
// various methods that supply specific information about the field
Time getTimeFromConfidence ( double dConf );
double getOffsideX ( bool bIncludeComm=true);
VecPosition getOuterPositionInField ( VecPosition pos,
AngDeg ang,
double dDist = 3.0,
bool bWithPenalty=true);
AngDeg getDirectionOfWidestAngle ( VecPosition posOrg,
AngDeg angMin,
AngDeg angMax,
AngDeg *ang,
double dDist );
bool isInField ( VecPosition pos,
double dMargin = 1 );
bool isBeforeGoal ( VecPosition pos );
// strategic positioning
VecPosition getStrategicPosition ( ObjectT obj,
FormationT ft = FT_ILLEGAL );
VecPosition getStrategicPosition ( int iPlayer = -1,
FormationT ft = FT_ILLEGAL );
VecPosition getMarkingPosition ( VecPosition pos,
double dDist,
MarkT mark );
int getClosestPlayerInFormationTo( VecPosition pos,
bool bWithGoalie = 1,
ObjectT obj=OBJECT_ILLEGAL,
PlayerSetT ps = PS_ALL,
FormationT ft = FT_ILLEGAL );
// methods for computing the actual argument for a soccer command.
double getActualKickPowerRate ( );
double getKickPowerForSpeed ( double dDesiredSpeed );
double getKickSpeedToTravel ( double dDistance,
double dEndSpeed );
double getFirstSpeedFromEndSpeed ( double dEndSpeed,
double dCycles,
double dDecay = -1.0 );
double getFirstSpeedFromDist ( double dDist,
double dCycles,
double dDecay = -1.0 );
double getEndSpeedFromFirstSpeed ( double dFirstSpeed,
double dCycles );
AngDeg getAngleForTurn ( AngDeg angDesiredAngle,
double dSpeed,
ObjectT o=OBJECT_ILLEGAL);
AngDeg getActualTurnAngle ( AngDeg angActualAngle,
double dSpeed,
ObjectT o=OBJECT_ILLEGAL);
double getPowerForDash ( VecPosition posRelTo,
AngDeg angBody,
VecPosition vel,
double dEffort,
int iCycles = 1 );
////////////////////////// VARIOUS (WorldModel.C) ///////////////////////////
// constructor
WorldModel ( ServerSettings *ss,
PlayerSettings *ps,
Formations *fs );
~WorldModel ( );
// print information about WorldModel
void show ( ostream &os = cout );
void show ( ObjectSetT set,
ostream &os = cout );
void showQueuedCommands ( ostream &os = cout );
void show ( ObjectT o,
ostream &os = cout );
// methods that deal with timing information
bool waitForNewInformation ( );
// methods that deal with debugging
void logObjectInformation ( int iLogLevel,
ObjectT o );
void logDrawInfo ( int iLogLevel );
void logCoordInfo ( int iLogLevel );
bool logCircle ( int iLogLevel,
VecPosition pos,
double dRadius,
bool bAll = false );
bool logLine ( int iLogLevel,
VecPosition pos1,
VecPosition pos2,
bool bAll = false );
bool logDrawBallInfo ( int iLogLevel );
void drawCoordinationGraph ( );
// specific static variables
char m_colorPlayers[11][8]; /*!< color information with which each
player should draw its relevant info*/
int m_iMultX; /*!< This variable denotes with which value
the x coordinates of the draw
information should be multiplied in
order to convert the coordinates to
the coordinate system of the monitor*/
int m_iMultY; /*!< This variable denotes with which value
the y coordinates of the draw
information should be multiplied in
order to convert the coordinates to
the coordinate system of the monitor*/
bool isFeatureRelevant ( FeatureT type );
Feature getFeature ( FeatureT type );
bool setFeature ( FeatureT type,
Feature feature );
public:
void updateGlobalInformation();
//预测当前情况下，假设球速度为velBall
//o去截球的截球周期
int predictInterCyc(ObjectT o, const VecPosition& posBall, const VecPosition& velBall);
//预测对方最快球员的截球周期
int predictFastestOppInterCyc(const VecPosition& posBall, const VecPosition& velBall);
};
#endif
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