00001
00002
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023
00024
00025
00026
00027
00028
00029
00031
00032 #ifndef RCSC_FORMATION_FORMATION_H
00033 #define RCSC_FORMATION_FORMATION_H
00034
00035 #include <rcsc/geom/vector_2d.h>
00036
00037 #include <boost/shared_ptr.hpp>
00038
00039 #include <string>
00040 #include <list>
00041 #include <vector>
00042 #include <iostream>
00043
00044 namespace rcsc {
00045
00050 class Formation {
00051 public:
00052
00053 enum SideType {
00054 SIDE = -1,
00055 SYNMETRY = 1,
00056 CENTER = 0,
00057 };
00058
00063 struct Snapshot {
00064 Vector2D ball_;
00065 std::vector< Vector2D > players_;
00066
00067 Snapshot()
00068 {
00069 players_.reserve( 11 );
00070 }
00071
00072 Snapshot( const Vector2D & ball,
00073 const std::vector< Vector2D > & players )
00074 : ball_( ball )
00075 , players_( players )
00076 { }
00077 };
00078
00079 protected:
00080
00088 int M_synmetry_number[11];
00089
00090
00091 public:
00092
00096 Formation();
00097
00098
00099 virtual
00100 ~Formation()
00101 { }
00102
00107 virtual
00108 Snapshot createDefaultParam() = 0;
00109
00114 virtual
00115 std::string methodName() const = 0;
00116
00122 bool isSideType( const int unum ) const
00123 {
00124 if ( unum < 1 || 11 < unum ) return false;
00125 return ( M_synmetry_number[unum - 1] < 0 );
00126 }
00127
00133 bool isCenterType( const int unum ) const
00134 {
00135 if ( unum < 1 || 11 < unum ) return false;
00136 return ( M_synmetry_number[unum - 1] == 0 );
00137 }
00138
00144 bool isSynmetryType( const int unum ) const
00145 {
00146 if ( unum < 1 || 11 < unum ) return false;
00147 return ( M_synmetry_number[unum - 1] > 0 );
00148 }
00149
00156 int getSynmetryNumber( const int unum ) const
00157 {
00158 if ( unum < 1 || 11 < unum ) return 0;
00159 return M_synmetry_number[unum - 1];
00160 }
00161
00162
00163
00172 bool updateRole( const int unum,
00173 const int synmetry_unum,
00174 const std::string & role_name );
00175
00176 protected:
00177
00184 virtual
00185 void createNewRole( const int unum,
00186 const std::string & role_name,
00187 const SideType type ) = 0;
00188
00194 virtual
00195 void setRoleName( const int unum,
00196 const std::string & name ) = 0;
00197
00198
00203 void setCenterType( const int unum );
00204
00209 void setSideType( const int unum );
00210
00216 bool setSynmetryType( const int unum,
00217 const int synmetry_unum );
00218
00219 public:
00220
00227 virtual
00228 std::string getRoleName( const int unum ) const = 0;
00229
00235 virtual
00236 Vector2D getPosition( const int unum,
00237 const Vector2D & focus_point ) const = 0;
00238
00239
00240
00241
00242
00243 virtual
00244 void getPositions( const Vector2D & focus_point,
00245 std::vector< Vector2D > & positions ) const = 0;
00246
00251 virtual
00252 void train( const std::list< Snapshot > & train_data ) = 0;
00253
00259 virtual
00260 bool read( std::istream & is ) = 0;
00261
00267 virtual
00268 std::ostream & print( std::ostream & os ) const = 0;
00269
00270
00271 protected:
00272
00279 int readName( std::istream & is );
00280
00286 std::ostream & printName( std::ostream & os ) const;
00287
00288 };
00289
00293 typedef boost::shared_ptr< Formation > FormationPtr;
00294
00295 }
00296
00297 #endif