クラス rcsc::SelfObject

self object class [詳細]

#include <self_object.h>

rcsc::SelfObjectに対する継承グラフ

rcsc::AbstractPlayerObject すべてのメンバ一覧

Public メソッド

 SelfObject ()
 constructor. just initialize member variables
 ~SelfObject ()
 destructor. nothing to do
void init (const SideID side, const int unum, const bool goalie)
 set uniform number and goalie flag.
virtual bool isSelf () const
 check if this player is self or not
const PlayerTypeplayerType () const
 get player type parameter
bool posValid () const
 velify global position accuracy
bool velValid () const
 verify velocity accuracy
bool faceValid () const
 verify angle accuracy
const Vector2DposError () const
 get estimated error of agent's global position
const Vector2DposPrev () const
 get global position at previous cycle
double speed () const
 get estimated speed
const Vector2DvelError () const
 get estimated error of velocity
const AngleDegneck () const
 get estimated neck angle relative to body angle
const double & faceError () const
 get estimated error about angle
const ViewWidthviewWidth () const
 get current view width
const ViewQualityviewQuality () const
 get current view quality
const GameTimecatchTime () const
 get last catch performed time
int tackleExpires () const
 get tackle expire count
bool isFreezed () const
 check if body is freezed by tackle effect
int armMovable () const
 get arm movable count
const Vector2DpointtoPos () const
 get estimated pointing point const reference to the point object
const GameTimepointtoTime () const
 get pointto action performed time const reference to the time object
SideID attentiontoSide () const
 get current attentioned player's side
int attentiontoUnum () const
 get current attentioned player's uniform number
const double & stamina () const
 get current stamina value
const double & effort () const
 get current effort value
const double & recovery () const
 get current estimated recovery value
bool collisionEstimated () const
 get estimated collistion status
bool hasSensedCollision () const
 get a flag whether agent has a certain collistion info
bool collidesWithNone () const
 get a certain collistion status with no objects
bool collidesWithBall () const
 get a certain collistion status with ball
bool collidesWithPlayer () const
 get a certain collistion status with players
bool collidesWithPost () const
 get a certain collistion status with posts
const Vector2DlastMove () const
 get last move vector (transformation from previous to current)
const Vector2DlastMove (const int i) const
 get last 3 move vectors
bool isKickable () const
 get ball kickable status
const double & kickRate () const
 get current estimated kick power rate
double dashRate () const
 get current dash power rate
const double & tackleProbability () const
 get estimated tackle success probability
double kickableArea () const
 get current kickable radius
double catchableArea () const
 get current catchable radius calculated by diagonal length
void update (const ActionEffector &act, const GameTime &current)
 update status only using internal info
void updateAfterSense (const BodySensor &sense, const ActionEffector &act, const GameTime &current)
 update status using sense_body info
void updateAfterFullstate (const FullstateSensor::PlayerT &my_state, const ActionEffector &act, const GameTime &current)
 update status using fullstate info
void updatePos (const Vector2D &pos, const Vector2D &pos_err, const double &face, const double &face_err, const GameTime &current)
 update status using see info
void updateByCollision (const Vector2D &pos, const Vector2D &pos_error)
 apply collision effect
void updateAngle (const double &face, const double &face_err, const GameTime &current)
 update status using see info. but only angle.
void updateVelDirAfterSee (const BodySensor &sense, const GameTime &current)
 adjust velocity direction using observed facing angle and sensed speed
void updateBallInfo (const BallObject &ball)
 update ball related status
void setViewMode (const ViewWidth &w, const ViewQuality &q)
 set view mode
void setPointto (const Vector2D &point, const GameTime &done_time)
 set pointto effect
void setAttentionto (const SideID side, const int unum)
 set attentionto effect
double getSafetyDashPower (const double &dash_power) const
 get dash power to save recovery decay.
bool canTurn (const double &moment) const
 check if agent can turn the specified moment

Static Public メソッド

static void set_count_thr (const int pos_thr, const int vel_thr, const int face_thr)
 set accuracy count threshold values.

説明

self object class


関数

void rcsc::SelfObject::set_count_thr ( const int  pos_thr,
const int  vel_thr,
const int  face_thr 
) [static]

set accuracy count threshold values.

引数:
pos_thr threshold value for M_pos
vel_thr threshold value for M_vel
face_thr threshold value for M_body and M_face

void rcsc::SelfObject::init ( const SideID  side,
const int  unum,
const bool  goalie 
)

set uniform number and goalie flag.

引数:
side side id returned from server
unum uniform number returned from server
goalie true if agent connected as goalie.
This method is called just after received init replay message.

virtual bool rcsc::SelfObject::isSelf (  )  const [inline, virtual]

check if this player is self or not

戻り値:
true if this player is self

rcsc::AbstractPlayerObjectを再定義しています。

const PlayerType& rcsc::SelfObject::playerType (  )  const [inline]

get player type parameter

戻り値:
const reference to the player type object

bool rcsc::SelfObject::posValid (  )  const

velify global position accuracy

戻り値:
true if position has enough accuracy

bool rcsc::SelfObject::velValid (  )  const

verify velocity accuracy

戻り値:
true if velocity has enough accuracy

bool rcsc::SelfObject::faceValid (  )  const

verify angle accuracy

戻り値:
true if angle has enough accuracy

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

get estimated error of agent's global position

戻り値:
const reference to the error vector

const Vector2D& rcsc::SelfObject::posPrev (  )  const [inline]

get global position at previous cycle

戻り値:
const reference to the position object

double rcsc::SelfObject::speed (  )  const [inline]

get estimated speed

戻り値:
scalar value of current velocity

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

get estimated error of velocity

戻り値:
const reference to the error vector object

const AngleDeg& rcsc::SelfObject::neck (  )  const [inline]

get estimated neck angle relative to body angle

戻り値:
const reference to the angle object

const double& rcsc::SelfObject::faceError (  )  const [inline]

get estimated error about angle

戻り値:
error value about angle

const ViewWidth& rcsc::SelfObject::viewWidth (  )  const [inline]

get current view width

戻り値:
const reference to the view width object

const ViewQuality& rcsc::SelfObject::viewQuality (  )  const [inline]

get current view quality

戻り値:
const reference to the view quality object

const GameTime& rcsc::SelfObject::catchTime (  )  const [inline]

get last catch performed time

戻り値:
const reference to the time object

int rcsc::SelfObject::tackleExpires (  )  const [inline]

get tackle expire count

戻り値:
tackle expire count

bool rcsc::SelfObject::isFreezed (  )  const [inline]

check if body is freezed by tackle effect

戻り値:
true if body is freezed.

int rcsc::SelfObject::armMovable (  )  const [inline]

get arm movable count

戻り値:
cycles till arm is movable

SideID rcsc::SelfObject::attentiontoSide (  )  const [inline]

get current attentioned player's side

戻り値:
side Id

int rcsc::SelfObject::attentiontoUnum (  )  const [inline]

get current attentioned player's uniform number

戻り値:
uniform number

const double& rcsc::SelfObject::stamina (  )  const [inline]

get current stamina value

戻り値:
raw stamina value from stamina object

const double& rcsc::SelfObject::effort (  )  const [inline]

get current effort value

戻り値:
effort value from stamina object

const double& rcsc::SelfObject::recovery (  )  const [inline]

get current estimated recovery value

戻り値:
recovery value from stamina object

bool rcsc::SelfObject::collisionEstimated (  )  const [inline]

get estimated collistion status

戻り値:
true collision is estimated

bool rcsc::SelfObject::hasSensedCollision (  )  const [inline]

get a flag whether agent has a certain collistion info

戻り値:
true if agent has a certain collision info

bool rcsc::SelfObject::collidesWithNone (  )  const [inline]

get a certain collistion status with no objects

戻り値:
true if no collision

bool rcsc::SelfObject::collidesWithBall (  )  const [inline]

get a certain collistion status with ball

戻り値:
true collision occured

bool rcsc::SelfObject::collidesWithPlayer (  )  const [inline]

get a certain collistion status with players

戻り値:
true collision occured

bool rcsc::SelfObject::collidesWithPost (  )  const [inline]

get a certain collistion status with posts

戻り値:
true collision occured

const Vector2D& rcsc::SelfObject::lastMove (  )  const [inline]

get last move vector (transformation from previous to current)

戻り値:
const reference to the vector object

const Vector2D& rcsc::SelfObject::lastMove ( const int  i  )  const [inline]

get last 3 move vectors

戻り値:
const reference to the vector object

bool rcsc::SelfObject::isKickable (  )  const [inline]

get ball kickable status

戻り値:
true if ball kickable

const double& rcsc::SelfObject::kickRate (  )  const [inline]

get current estimated kick power rate

戻り値:
calculated kick rate value

double rcsc::SelfObject::dashRate (  )  const [inline]

get current dash power rate

戻り値:
current effort * dash power rate

const double& rcsc::SelfObject::tackleProbability (  )  const [inline]

get estimated tackle success probability

戻り値:
probability [0,1]

double rcsc::SelfObject::kickableArea (  )  const

get current kickable radius

戻り値:
kickable radius value

double rcsc::SelfObject::catchableArea (  )  const

get current catchable radius calculated by diagonal length

戻り値:
strict catchable radius value

void rcsc::SelfObject::update ( const ActionEffector act,
const GameTime current 
)

update status only using internal info

引数:
act internal action info
current current game time

void rcsc::SelfObject::updateAfterSense ( const BodySensor sense,
const ActionEffector act,
const GameTime current 
)

update status using sense_body info

引数:
sense sense_body info
act internal action info
current current game time

void rcsc::SelfObject::updateAfterFullstate ( const FullstateSensor::PlayerT my_state,
const ActionEffector act,
const GameTime current 
)

update status using fullstate info

引数:
my_state my state in fullstate info
act internal action info
current current game time

void rcsc::SelfObject::updatePos ( const Vector2D pos,
const Vector2D pos_err,
const double &  face,
const double &  face_err,
const GameTime current 
)

update status using see info

引数:
pos estimated global position
pos_err estimated error of position
face estimated global neck angle
face_err estimated error of facing angle
current current game time

void rcsc::SelfObject::updateByCollision ( const Vector2D pos,
const Vector2D pos_error 
)

apply collision effect

引数:
pos new global position
pos_error estimated maximum position error

void rcsc::SelfObject::updateAngle ( const double &  face,
const double &  face_err,
const GameTime current 
)

update status using see info. but only angle.

引数:
face estimated global neck angle
face_err estimated error of facing angle
current current game time

void rcsc::SelfObject::updateVelDirAfterSee ( const BodySensor sense,
const GameTime current 
)

adjust velocity direction using observed facing angle and sensed speed

引数:
sense sense_body info
current current game time
Call before ball update with see info. *** This method is called just after self localization in WorldModel

void rcsc::SelfObject::updateBallInfo ( const BallObject ball  ) 

update ball related status

引数:
ball ball object
This method is called just before action decision

void rcsc::SelfObject::setViewMode ( const ViewWidth w,
const ViewQuality q 
) [inline]

set view mode

引数:
w view width object
q view quality object
This method is called just after send command.

void rcsc::SelfObject::setPointto ( const Vector2D point,
const GameTime done_time 
) [inline]

set pointto effect

引数:
point pointing point
done_time action performed time
This method is called just after send command.

void rcsc::SelfObject::setAttentionto ( const SideID  side,
const int  unum 
) [inline]

set attentionto effect

引数:
side attentioned player's side
unum attentioned player's uniform number
This method is called just after send command.

double rcsc::SelfObject::getSafetyDashPower ( const double &  dash_power  )  const

get dash power to save recovery decay.

引数:
dash_power evaluated dash power
戻り値:
filtered dash power

bool rcsc::SelfObject::canTurn ( const double &  moment  )  const

check if agent can turn the specified moment

引数:
moment required turn moment value
戻り値:
true if agent can turn by 1 step


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 15:41:27 2008に生成されました。  doxygen 1.5.0