serverparam.h
来自「2009 ROBOCUP 仿真2DSERVER 源码」· C头文件 代码 · 共 995 行 · 第 1/3 页
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995 行
double M_inertia_moment; /* intertia moment for turn */ double M_player_size; /* player size */ double M_player_decay; /* player decay */ double M_player_rand; /* player rand */ double M_player_weight; /* player weight */ double M_player_speed_max; /* player speed max */ // th 6.3.00 double M_player_accel_max; /* player acceleration max */ // double M_stamina_max; /* player stamina max */ double M_stamina_inc; /* player stamina inc */ double M_recover_init; /* player recovery init */ double M_recover_dec_thr; /* player recovery decriment threshold */ double M_recover_min; /* player recovery min */ double M_recover_dec; /* player recovery decriment */ double M_effort_init; /* player dash effort init */ double M_effort_dec_thr; /* player dash effort decriment threshold */ double M_effort_min; /* player dash effrot min */ double M_effort_dec; /* player dash effort decriment */ double M_effort_inc_thr; /* player dash effort incriment threshold */ double M_effort_inc; /* player dash effort incriment */ // pfr 8/14/00: for RC2000 evaluation double M_kick_rand; /* noise added directly to kicks */ bool M_team_actuator_noise; /* flag whether to use team specific actuator noise */ double M_player_rand_factor_l; /* factor to multiple prand for left team */ double M_player_rand_factor_r; /* factor to multiple prand for right team */ double M_kick_rand_factor_l; /* factor to multiple kick_rand for left team */ double M_kick_rand_factor_r; /* factor to multiple kick_rand for right team */ double M_ball_size; /* ball size */ double M_ball_decay; /* ball decay */ double M_ball_rand; /* ball rand */ double M_ball_weight; /* ball weight */ double M_ball_speed_max; /* ball speed max */ // th 6.3.00 double M_ball_accel_max; /* ball acceleration max */ // double M_dash_power_rate; /* dash power rate */ double M_kick_power_rate; /* kick power rate */ double M_kickable_margin; /* kickable margin */ double M_control_radius; /* control radius */ double M_control_radius_width; /* (control radius) - (plyaer size) */ double M_max_power; /* max power */ double M_min_power; /* min power */ double M_max_moment; /* max moment */ double M_min_moment; /* min moment */ double M_max_neck_moment; /* max neck moment */ double M_min_neck_moment; /* min neck moment */ double M_max_neck_angle; /* max neck angle */ double M_min_neck_angle; /* min neck angle */ double M_visible_angle; /* visible angle */ double M_visible_distance; /* visible distance */ double M_wind_dir; /* wind direction */ double M_wind_force; /* wind force */ double M_wind_angle; /* wind angle for rand */ double M_wind_rand; /* wind force for force */ bool M_wind_none; /* wind factor is none */ bool M_wind_random; /* wind factor is random */ double M_kickable_area; /* kickable_area */ double M_catchable_area_l; /* goalie catchable area length */ double M_catchable_area_w; /* goalie catchable area width */ double M_catch_probability; /* goalie catchable possibility */ int M_goalie_max_moves; /* goalie max moves after a catch */ bool M_keepaway; /* keepaway mode on/off */ double M_keepaway_length; /* keepaway region length */ double M_keepaway_width; /* keepaway region width */ double M_corner_kick_margin; /* corner kick margin */ double M_offside_active_area_size; /* offside active area size */ int M_port; /* port number */ int M_coach_port; /* coach port number */ int M_olcoach_port; /* online coach port number */ int M_say_cnt_max; /* max count of coach SAY (freeform) */ int M_say_coach_msg_size; /* max length of coach SAY (freeform) */ int M_clang_win_size; /* coach language: time window size */ int M_clang_define_win; /* coach language: define messages per window */ int M_clang_meta_win; /* coach language: meta messages per window */ int M_clang_advice_win; /* coach language: advice messages per window */ int M_clang_info_win; /* coach language: info messages per window */ int M_clang_mess_delay; /* coach language: delay between receive and send */ int M_clang_mess_per_cycle; /* coach language: number of messages to flush per cycle */ int M_raw_half_time; /* half time */ int M_half_time; /* half time */ int M_drop_ball_time; /* cycles for dropping the ball after a free kick, corner kick message and noone kicking the ball. 0 means don't drop automatically */ int M_nr_normal_halfs; /* nr of normal halfs: default 2) */ int M_nr_extra_halfs; /* nr of extra halfs: -1 is infinite) */ bool M_penalty_shoot_outs;/* penalty shoot outs after extra halfs*/ int M_pen_before_setup_wait;/* cycles waited before penalty setup*/ int M_pen_setup_wait; /* cycles waited to setup penalty */ int M_pen_ready_wait; /* cycles waited to take penalty */ int M_pen_taken_wait; /* cycles waited to finish penalty */ int M_pen_nr_kicks; /* number of penalty kicks */ int M_pen_max_extra_kicks; /* max. nr of extra penalty kicks */ double M_pen_dist_x; /* distance from goal to place ball */ bool M_pen_random_winner; /* random winner when draw? */ bool M_pen_allow_mult_kicks; /* can attacker kick mult. times */ double M_pen_max_goalie_dist_x; /*max distance from goal for goalie*/ bool M_pen_coach_moves_players; /*coach moves players when positioned wrongly */ int M_simulator_step; /* simulator step interval msec */ int M_sense_body_step; /* sense_body interval step msec */ int M_send_vi_step; /* online coach's look interval step */ int M_send_step; /* udp send step interval msec for player's default view mode*/ int M_lcm_step; /* lcm of all the above steps msec */ int M_recv_step; /* udp recv step interval msec */ int M_catch_ban_cycle; /* goalie catch ban cycle */ int M_slow_down_factor; /* factor to slow down simulator and send intervals */ bool M_use_offside; /* flag for using off side rule */ bool M_forbid_kick_off_offside; /* flag for permit kick off offside */ double M_offside_kick_margin; /* offside kick margin */ double M_audio_cut_dist; /* audio cut off distance */ double M_quantize_step; /* quantize step of distance */ double M_landmark_quantize_step; /* quantize step of distance for landmark */#ifdef NEW_QSTEP double dir_qstep; /* quantize step of direction */ //private: double dist_qstep_l; /* team right quantize step of distance */ double dist_qstep_r; /* team left quantize step of distance */ double land_qstep_l; /* team right quantize step of distance for landmark */ double land_qstep_r; /* team left quantize step of distance for landmark */ double dir_qstep_l; /* team left quantize step of direction */ double dir_qstep_r; /* team right quantize step of direction */ bool defined_qstep_l; bool defined_qstep_r; bool defined_qstep_l_l; bool defined_qstep_l_r; bool defined_qstep_dir_l; bool defined_qstep_dir_r;#endif bool M_verbose; /* flag for verbose mode */ bool M_coach_mode; /* coach mode */ bool M_coach_with_referee_mode; /* coach with referee mode */ bool M_old_coach_hear; /* old format for hear command (coach) */ bool M_synch_mode; /* pfr:SYNCH whether to run in synchronized mode */ int M_synch_offset; /* pfr:SYNCH the offset from the start of the cycle to tell players to run */ int M_synch_micro_sleep; /* pfr:SYNCH the # of microseconds to sleep while waiting for players */ int M_start_goal_l; /* The starting score of the left team */ int M_start_goal_r; /* The starting score of the right team */ bool M_fullstate_l; /* flag to send fullstate messages to left team; supresses visual info */ bool M_fullstate_r; /* flag to send fullstate messages to right team; supresses visual info */ double M_slowness_on_top_for_left_team; /* Kinda self explanatory */ double M_slowness_on_top_for_right_team; /* ditto */ std::string M_landmark_file; bool M_send_comms; bool M_text_logging; bool M_game_logging; int M_game_log_version; std::string M_text_log_dir; std::string M_game_log_dir; std::string M_text_log_fixed_name; std::string M_game_log_fixed_name; bool M_text_log_fixed; bool M_game_log_fixed; bool M_text_log_dated; bool M_game_log_dated; std::string M_log_date_format; bool M_log_times; bool M_record_messages; int M_text_log_compression; int M_game_log_compression; bool M_profile; bool M_keepaway_logging; std::string M_keepaway_log_dir; std::string M_keepaway_log_fixed_name; bool M_keepaway_log_fixed; bool M_keepaway_log_dated; int M_keepaway_start; int M_point_to_ban; int M_point_to_duration; int M_say_msg_size; /* string size of say message */ int M_hear_max; /* player hear_capacity_max */ int M_hear_inc; /* player hear_capacity_inc */ int M_hear_decay; /* player hear_capacity_decay */ double M_tackle_dist; double M_tackle_back_dist; double M_tackle_width; double M_tackle_exponent; int M_tackle_cycles; double M_tackle_power_rate; int M_freeform_wait_period; int M_freeform_send_period; bool M_free_kick_faults; bool M_back_passes; bool M_proper_goal_kicks; double M_stopped_ball_vel; int M_max_goal_kicks; int M_clang_del_win; int M_clang_rule_win; bool M_auto_mode; int M_kick_off_wait; int M_connect_wait; int M_game_over_wait; std::string M_team_l_start; std::string M_team_r_start; // 11.0.0 double M_ball_stuck_area; /* threshold distance checked by BallStuckRef */ std::string M_coach_msg_file; /* file name that contains the messages sent to coaches */ // 12.0.0 double M_max_tackle_power; double M_max_back_tackle_power; double M_player_speed_max_min; // minumum value of player speed max double M_extra_stamina; int M_max_monitors; //!< The maximum number of monitor client connection. int M_synch_see_offset; //!< synch see offset // 12.1.3 int M_raw_extra_half_time; int M_extra_half_time; // 13.0.0 double M_stamina_capacity; double M_max_dash_angle; double M_min_dash_angle; double M_dash_angle_step; double M_side_dash_rate; double M_back_dash_rate; double M_max_dash_power; double M_min_dash_power; // test parameters for future specification double M_reliable_catch_area_l; /* goalie reliable catchable area length */ double M_min_catch_probability;private: // setters & getters void setCTLRadius( double value ) { M_control_radius_width -= M_control_radius; M_control_radius = value; M_control_radius_width += M_control_radius; } void setKickMargin( double value ) { M_kickable_area -= M_kickable_margin; M_kickable_margin = value; M_kickable_area += M_kickable_margin; } void setBallSize( double value ) { M_kickable_area -= M_ball_size; M_ball_size = value; M_kickable_area += M_ball_size; } void setPlayerSize( double value ) { M_control_radius_width += M_player_size; M_kickable_area -= M_player_size; M_player_size = value; M_kickable_area += M_player_size; M_control_radius_width -= M_player_size; } double getHalfTimeScaler() const { double value = 1000.0 / ( M_simulator_step / M_slow_down_factor ); return ( value != 0.0 ? value : EPS ); } //Have to be careful with integer math, see bug # 800540 void setHalfTime( int value ) { M_raw_half_time = value; M_half_time = static_cast< int >( value * getHalfTimeScaler() + 0.5 ); } int getRawHalfTime() const { //Have to be careful with integer math, see bug # 800540 //return static_cast< int >( M_half_time / getHalfTimeScaler() + 0.5 ); return M_raw_half_time; } //Have to be careful with integer math, see bug # 800540 void setExtraHalfTime( int value ) { M_raw_extra_half_time = value < 0 ? 0 : value; M_extra_half_time = static_cast< int >( value * getHalfTimeScaler() + 0.5 ); } int getRawExtraHalfTime() const { //Have to be careful with integer math, see bug # 800540 //return static_cast< int >( M_half_time / getHalfTimeScaler() + 0.5 ); return M_raw_extra_half_time; } int getRawSimStep() const { return M_simulator_step / M_slow_down_factor; } int getRawSenseBodyStep() const {⌨️ 快捷键说明
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