types.h

agentspark 机器人模拟代码 适用robocup 机器人步态模拟仿真（机器人动作在NAOGETUP.cpp下修改）

/*
   Copyright (C) 2007, 2008 by Team Apollo
   Nanjing University of Posts and Telecommunications, China

   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; version 2 of the License.

   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., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef TYPES_H
#define TYPES_H

#include <iostream>
#include <string>
#include <map>
#include <cassert>
#include <sstream>
#include "./salt/vector.h"
#include "./salt/gmath.h"
#include "soccertypes.h"

const std::string gTeamName     = "Strive3D";
static const int  gTeamSize     = 3;

static const std::string ACTION_TURN            = "turn";
static const std::string ACTION_KICK            = "kick";
static const std::string ACTION_WALK            = "walk";
static const std::string ACTION_TRIPPLEBACKWARD = "tripplebackward";
static const std::string ACTION_WALK_TO         = "walkto";
static const std::string ACTION_GETUP           = "getup";
static const std::string ACTION_GETUPFROMBACK   = "getupfromback";
static const std::string ACTION                 = "action";

struct VisionSense
{
    /** distance perceptor to object */
    double distance;

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

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

    salt::Vector3f localPos;

    salt::Vector3f realPos;

    /** init with some big number to find out bug easlier */
    VisionSense() : distance(-1000.0), theta(-1000.0), phi(-1000.0) {};
};

struct HingeJointSense
{
    /** joint angle */
    float angle;

    /** joint angle rate */
    float rate;

    HingeJointSense() : angle(0), rate(0) {};
};

struct UniversalJointSense
{
    /** joint angle axis 1*/
    float angle1;

    /** joint angle axis 2*/
    float angle2;

    /** joint angle rate axis 1*/
    float rate1;

    /** joint angle rate axis 2*/
    float rate2;

    UniversalJointSense() : angle1(0), angle2(0), rate1(0), rate2(0) {};
};

struct HearInfo
{
    float           time;
    std::string     sender;
    std::string     message;
};

/** typedef */
typedef int JointID;
typedef int RobotPart;
typedef std::map<JointID, HingeJointSense> THingeJointSenseMap;
typedef std::map<JointID, UniversalJointSense> TUniversalJointSenseMap;
typedef std::map<std::string, JointID> TJointIDMap;

/** enum */
enum EFallDir
{
    NO_FALL,
    FALL_FRONT,
    FALL_BACK,
    FALL_LEFT,
    FALL_RIGHT
};

enum VisionObject
{
    FLAG_1_L    = 0,
    FLAG_1_R    = 1,
    FLAG_2_L    = 2,
    FLAG_2_R    = 3,
    GOAL_1_L    = 4,
    GOAL_1_R    = 5,
    GOAL_2_L    = 6,
    GOAL_2_R    = 7,
    BALL        = 8,

    TEAMMATE_1  = 9,
    TEAMMATE_2  = 10,
    TEAMMATE_3  = 11,
    TEAMMATE_4  = 12,
    TEAMMATE_5  = 13,
    TEAMMATE_6  = 14,
    TEAMMATE_7  = 15,
    TEAMMATE_8  = 16,
    TEAMMATE_9  = 17,
    TEAMMATE_10 = 18,
    TEAMMATE_11 = 19,

    OPPONENT_1  = 20,
    OPPONENT_2  = 21,
    OPPONENT_3  = 22,
    OPPONENT_4  = 23,
    OPPONENT_5  = 24,
    OPPONENT_6  = 25,
    OPPONENT_7  = 26,
    OPPONENT_8  = 27,
    OPPONENT_9  = 28,
    OPPONENT_10 = 29,
    OPPONENT_11 = 30
};

#endif