クラス rcsc::BallObject

observed ball object class [詳細]

#include <ball_object.h>

すべてのメンバ一覧

Public メソッド

 BallObject ()
 constructor. initialize member variables
const double & distFromSelf () const
 get estimated distance from self
const AngleDegangleFromSelf () const
 get estimated global angle from self
const Vector2Dpos () const
 get estimated global coordinate
const Vector2DposError () const
 get estimated error of global coordinate
const int posCount () const
 get global position accuracy count
const Vector2Drpos () const
 get estimated position relative from self
const Vector2DrposError () const
 get estimated error of relative coordinate
const int rposCount () const
 get relative position accuracy count
const Vector2DrposPrev () const
 get previous cycle relative position
const Vector2DseenPos () const
 get the last seen position
int seenPosCount () const
 get the number of cycles since last seen
const Vector2DseenRPos () const
 get the last seen relative position
const Vector2DheardPos () const
 get the last heard position
int heardPosCount () const
 get the number of cycles since last observation
const Vector2Dvel () const
 get estimated velocity
const Vector2DvelError () const
 get estimated error of velocity
int velCount () const
 get velocity accuracy count
const Vector2DseenVel () const
 get the last seen velocity
int seenVelCount () const
 get the number of cycles since last velocity seen
int lostCount () const
 get count since ball lost
const GameTimeghostTime () const
 get ghost detected time
bool posValid () const
 velify global position accuracy
bool rposValid () const
 velify relative position accuracy
bool velValid () const
 verify velocity accuracy
void setGhost (const GameTime &current)
 clear all confidence values and set ghost time
void update (const ActionEffector &act, const GameMode &game_mode, const GameTime &current)
 update status only with intenal info
void updateByFullstate (const Vector2D &pos, const Vector2D &vel, const Vector2D &self_pos)
 update status with fullstate info
void updateByCollision (const Vector2D &pos, const int pos_count, const Vector2D &rpos, const int rpos_count, const Vector2D &vel, const int vel_count)
 apply collision effect
void updateOnlyRelativePos (const Vector2D &rpos, const Vector2D &rpos_err)
 update relative position using see info.
void updateOnlyVel (const Vector2D &vel, const Vector2D &vel_err, const int vel_count)
 update velocity using see info
void setOpponentControlEffect ()
 update by opponent control effect
void updatePos (const Vector2D &pos, const Vector2D &pos_err, const int pos_count, const Vector2D &rpos, const Vector2D &rpos_err)
 update position by see info (not include velocity)
void updateAll (const Vector2D &pos, const Vector2D &pos_err, const int pos_count, const Vector2D &rpos, const Vector2D &rpos_err, const Vector2D &vel, const Vector2D &vel_err, const int vel_count)
 update all status by see info
void updateByHear (const Vector2D &heard_pos, const Vector2D &heard_vel, const GameTime &current)
 update ball status using heared info
void updateSelfRelated (const SelfObject &self)
 update self related info
template<typename REGION>
bool isWithin (const REGION &region) const
 template method. check if ball is in the region
Vector2D inertiaTravel (const int cycle) const
 estimate movement travel vector
Vector2D inertiaPoint (const int cycle) const
 estimate reach point
Vector2D inertiaFinalTravel () const
 estimate final movement travel vector
Vector2D inertiaFinalPoint () const
 estimate final reach point

Static Public メソッド

static void set_count_thr (const int pos_thr, const int rpos_thr, const int vel_thr)
 set accuracy count threshold values.
static double calc_travel_step (const double &distance, const double &first_speed)
 estimate final reach point


説明

observed ball object class

order of update process. update() -> updateAll() (updatePos(),updateOnlyVel(), updateOnlyRelativePos()) -> updateByHeardInfo() -> updateByCollision() -> updateSelfRelated()


関数

void rcsc::BallObject::set_count_thr ( const int  pos_thr,
const int  rpos_thr,
const int  vel_thr 
) [static]

set accuracy count threshold values.

引数:
pos_thr threshold value for M_pos
rpos_thr threshold value for M_rpos
vel_thr threshold value for M_vel

const double& rcsc::BallObject::distFromSelf (  )  const [inline]

get estimated distance from self

戻り値:
distance value

const AngleDeg& rcsc::BallObject::angleFromSelf (  )  const [inline]

get estimated global angle from self

戻り値:
const reference to angle object

const Vector2D& rcsc::BallObject::pos (  )  const [inline]

get estimated global coordinate

戻り値:
const reference to point object

const Vector2D& rcsc::BallObject::posError (  )  const [inline]

get estimated error of global coordinate

戻り値:
const reference to vector object

const int rcsc::BallObject::posCount (  )  const [inline]

get global position accuracy count

戻り値:
cycle count from last observation

const Vector2D& rcsc::BallObject::rpos (  )  const [inline]

get estimated position relative from self

戻り値:
const referenct to point object

const Vector2D& rcsc::BallObject::rposError (  )  const [inline]

get estimated error of relative coordinate

戻り値:
const reference to vector object

const int rcsc::BallObject::rposCount (  )  const [inline]

get relative position accuracy count

戻り値:
cycle count from last observation

const Vector2D& rcsc::BallObject::rposPrev (  )  const [inline]

get previous cycle relative position

戻り値:
const reference to point object

const Vector2D& rcsc::BallObject::seenPos (  )  const [inline]

get the last seen position

戻り値:
const reference to the point object

int rcsc::BallObject::seenPosCount (  )  const [inline]

get the number of cycles since last seen

戻り値:
count since last seen

const Vector2D& rcsc::BallObject::seenRPos (  )  const [inline]

get the last seen relative position

戻り値:
const reference to the variable

const Vector2D& rcsc::BallObject::heardPos (  )  const [inline]

get the last heard position

戻り値:
const reference to the point object

int rcsc::BallObject::heardPosCount (  )  const [inline]

get the number of cycles since last observation

戻り値:
count since last observation

const Vector2D& rcsc::BallObject::vel (  )  const [inline]

get estimated velocity

戻り値:
const referenct to vector object

const Vector2D& rcsc::BallObject::velError (  )  const [inline]

get estimated error of velocity

戻り値:
const reference to vector object

int rcsc::BallObject::velCount (  )  const [inline]

get velocity accuracy count

戻り値:
cycle count from last observation

const Vector2D& rcsc::BallObject::seenVel (  )  const [inline]

get the last seen velocity

戻り値:
const reference to the point object

int rcsc::BallObject::seenVelCount (  )  const [inline]

get the number of cycles since last velocity seen

戻り値:
count since last velocity seen

int rcsc::BallObject::lostCount (  )  const [inline]

get count since ball lost

戻り値:
cycle count since last observation

const GameTime& rcsc::BallObject::ghostTime (  )  const [inline]

get ghost detected time

戻り値:
game time value

bool rcsc::BallObject::posValid (  )  const [inline]

velify global position accuracy

戻り値:
true if position has enough accuracy

bool rcsc::BallObject::rposValid (  )  const [inline]

velify relative position accuracy

戻り値:
true if relative position has enough accuracy

bool rcsc::BallObject::velValid (  )  const [inline]

verify velocity accuracy

戻り値:
true if velocity has enough accuracy

void rcsc::BallObject::setGhost ( const GameTime current  ) 

clear all confidence values and set ghost time

引数:
current current game time

void rcsc::BallObject::update ( const ActionEffector act,
const GameMode game_mode,
const GameTime current 
)

update status only with intenal info

引数:
act const reference to action effector
game_mode const reference to referee info
current current game time

void rcsc::BallObject::updateByFullstate ( const Vector2D pos,
const Vector2D vel,
const Vector2D self_pos 
)

update status with fullstate info

引数:
pos no error position in fullstate info
vel no error velocity in fullstate info
self_pos global self position

void rcsc::BallObject::updateByCollision ( const Vector2D pos,
const int  pos_count,
const Vector2D rpos,
const int  rpos_count,
const Vector2D vel,
const int  vel_count 
)

apply collision effect

引数:
pos new global position
pos_count accuracy counter
rpos new relative position
rpos_count accuracy counter
vel new velocity
vel_count accuracy counter
Thie method is called when collision estimatation

void rcsc::BallObject::updateOnlyRelativePos ( const Vector2D rpos,
const Vector2D rpos_err 
)

update relative position using see info.

引数:
rpos observed relative position
rpos_err estimated error of relative position

void rcsc::BallObject::updateOnlyVel ( const Vector2D vel,
const Vector2D vel_err,
const int  vel_count 
)

update velocity using see info

引数:
vel estimated velocity
vel_err estimated error of velocity
vel_count new accuracy value of the velocity

void rcsc::BallObject::updatePos ( const Vector2D pos,
const Vector2D pos_err,
const int  pos_count,
const Vector2D rpos,
const Vector2D rpos_err 
)

update position by see info (not include velocity)

引数:
pos estimated global position
pos_err estimated error of global position
pos_count new accuracy value of global position. usually same as the self position accuracy.
rpos estimated relative position
rpos_err estimated error of relative position

void rcsc::BallObject::updateAll ( const Vector2D pos,
const Vector2D pos_err,
const int  pos_count,
const Vector2D rpos,
const Vector2D rpos_err,
const Vector2D vel,
const Vector2D vel_err,
const int  vel_count 
)

update all status by see info

引数:
pos estimated global position
pos_err estimated error of global position
pos_count new accuracy value of global position. usually same as the self position accuracy.
rpos estimated relative position
rpos_err estimated error of relative position
vel estimated velocity
vel_err estimated error of velocity
vel_count new accuracy value of the velocity

void rcsc::BallObject::updateByHear ( const Vector2D heard_pos,
const Vector2D heard_vel,
const GameTime current 
)

update ball status using heared info

引数:
heard_pos heard position
heard_vel heard velocity
current current game time
This method is called just before decision.

void rcsc::BallObject::updateSelfRelated ( const SelfObject self  ) 

update self related info

引数:
self const reference to the self object
This method is called just before decision.

template<typename REGION>
bool rcsc::BallObject::isWithin ( const REGION &  region  )  const [inline]

template method. check if ball is in the region

引数:
region template resion. REGION must have method contains()
戻り値:
true if region contains ball position

Vector2D rcsc::BallObject::inertiaTravel ( const int  cycle  )  const

estimate movement travel vector

引数:
cycle this method estimates ball travel after this steps
戻り値:
estimated travel vector

Vector2D rcsc::BallObject::inertiaPoint ( const int  cycle  )  const

estimate reach point

引数:
cycle this method estimates ball point after this steps
戻り値:
estimated point vector

Vector2D rcsc::BallObject::inertiaFinalTravel (  )  const

estimate final movement travel vector

戻り値:
estimated travel vector

Vector2D rcsc::BallObject::inertiaFinalPoint (  )  const

estimate final reach point

戻り値:
estimated point vector

double rcsc::BallObject::calc_travel_step ( const double &  distance,
const double &  first_speed 
) [static]

estimate final reach point

戻り値:
estimated point vector


このクラスの説明は次のファイルから生成されました:
librcscに対してThu May 1 15:41:26 2008に生成されました。  doxygen 1.5.0