types.h

robocup3d源化码 Nexus3D.tar.gz

/*
Copyright (C) 2005 Ferdowsi University
*/

#ifndef TYPES_H
#define TYPES_H

#include <zeitgeist/leaf.h> 
#include <soccer/soccertypes.h>
#include <oxygen/gamecontrolserver/predicate.h>
#include <oxygen/gamecontrolserver/baseparser.h>

using namespace zeitgeist;
using namespace std;
using namespace boost;
using namespace oxygen;
using namespace salt;

enum VisionObject
{
	VO_BALL   = 0,
	VO_FLAG1L = 1,
	VO_FLAG1R = 2,
	VO_FLAG2L = 3,
	VO_FLAG2R = 4,
	VO_GOAL1L = 5,
	VO_GOAL1R = 6,
	VO_GOAL2L = 7,
	VO_GOAL2R = 8,
};

/* reperesents a polar structure*/
struct pol
{
	/** distance perceptor to object */
	float distance;

	/** theta is the angle in the X-Y (horizontal) plane */
	float theta;

	/** phi is the latitude angle */
	float phi;

	/** is_new shows whether it is updated or not */
	bool is_new;

	pol() : distance(0), theta(0), phi(0) ,is_new(false){};
};

/* reperesents a cartesian structure
struct cart
{
	float x;
	float y;
	float z;

	cart() : x(0), y(0), z(0) {};
	cart(float a, float b, float c){x=a; y=b; z=c;};
	cart add(float a, float b, float c){return cart(x+a, y+b, z+c);};
	cart add(cart c){return cart(x+c.x, y+c.y, z+c.z);};
	cart neg(){return cart(-x, -y, -z);};
};
*/
struct ActionInfo{
	float	x,y,drive_speed;
 	bool	do_drive;

	float	kick_angle;
	float	kick_direction;
	float	kick_power;
	bool	do_kick;
};

class DribbleInfo
{
	public:
		DribbleInfo(){
			confidence=0.0f;
			speed=0.0f;
		}
		float confidence;
		float angle;
		float direction;
		float speed;
};

class InterceptInfo
{
	public:
		InterceptInfo(){

		}
		float confidence;
		Vector3f pos;
};

class PassInfo
{
	public:
		PassInfo(){
			confidence=0.0f;
			speed=0.0f;
		}
		float confidence;
		float angle;
		float direction;
		float speed;
		Vector3f pos;
		int PlayerNumber;
};

class ShootInfo
{
	public:
		ShootInfo(){
			confidence=0.0f;
			speed=0.0f;
		}
		float confidence;
		float angle;
		float direction;
		float speed;
};



#endif // TYPES_H