#include <GT2004StrategySymbols.h>
Inheritance diagram for GT2004StrategySymbols:
Definition at line 22 of file GT2004StrategySymbols.h.
anonymous enum |
Output-Symbols for Profiler
Definition at line 92 of file GT2004StrategySymbols.h.
anonymous enum |
Definition at line 93 of file GT2004StrategySymbols.h.
GT2004StrategySymbols::GT2004StrategySymbols | ( | BehaviorControlInterfaces & | interfaces | ) |
Definition at line 26 of file GT2004StrategySymbols.cpp.
References estimatedTimeToReachBall, BehaviorTeamMessage::goalie, and role.
void GT2004StrategySymbols::computeRole | ( | ) |
computes the current role
Dynamic Role switching policy
BTW: LED policy: defensive supporter: no blue LEDs offensive supporter: blue LED13 on striker: blue LED13 and LED12 fast blinking alterningly
1. Without WLAN: Player 1: Goalie Player 2: default: defensive supporter Ball within 1.5m: striker Player 3: default: offensive supporter Ball within own half: ball within 1m: striker otherwise defensive supporter Ball within 2m: striker Player 4: default: offensive supporter Ball within 2.5m: striker
2. With WLAN (no team messages for 5 secs): Player 1: Goalie Player 2,3,4: When ball seen by one of the field players (last 2sec) or by current player (last 5 sec): Closest player to ball: Striker Foremost player: offensive supporter Hindmost player: defensive supporter
When ball not seen: 2 foremost players: offensive supporter Hindmost player: defensive supporter
Definition at line 116 of file GT2004StrategySymbols.cpp.
References SeenBallPosition::ballInFrontOfOpponentGoal, BehaviorControlInterfaces::ballModel, BehaviorTeamMessage::defensiveSupporter, Geometry::distance(), FieldDimensions::distanceToOpponentPenaltyArea(), Geometry::fieldCoord2Relative(), Player::four, getPlayer(), SystemCall::getTimeSince(), BehaviorTeamMessage::goalie, TeamMessageCollection::numberOfTeamMessages, BehaviorTeamMessage::offensiveSupporter, Player::one, BehaviorTeamMessage::playing, BehaviorControlInterfaces::robotPose, role, BallModel::seen, BehaviorTeamMessage::striker, BehaviorControlInterfaces::teamMessageCollection, Player::three, SeenBallPosition::timeWhenLastSeen, Pose2D::translation, Player::two, and Vector2< V >::x.
Referenced by update().
void GT2004StrategySymbols::estimateTimeToReachBall | ( | ) |
computes the estimated time to reach the ball
Definition at line 475 of file GT2004StrategySymbols.cpp.
References Geometry::angleTo(), BehaviorControlInterfaces::ballModel, Geometry::distanceTo(), estimatedTimeToReachBall, SystemCall::getTimeSince(), normalize(), pi2, BallModel::seen, and SeenBallPosition::timeWhenLastSeen.
Referenced by update().
double GT2004StrategySymbols::getAngleToTeammate | ( | ) |
calculates the value for the input function get-angle-to-teammate with parameter index the Parameter "robot-pose.get-angle-to-teammate.index" for the decimal input function "robot-pose.get-angle-to-teammate"
Definition at line 510 of file GT2004StrategySymbols.cpp.
References Geometry::angleTo(), angleToTeammateIndex, PlayerPoseCollection::getOwnPlayerPose(), PlayerPose::getPose(), PlayerPoseCollection::numberOfOwnPlayers, BehaviorControlInterfaces::playerPoseCollection, toDegrees(), and Pose2D::translation.
Referenced by registerSymbols().
bool GT2004StrategySymbols::getAnotherPlayerIsInInitialState | ( | ) |
A function for the symbol "another-player-is-in-initial-state".
Definition at line 543 of file GT2004StrategySymbols.cpp.
References BehaviorTeamMessage::initial.
Referenced by registerSymbols().
bool GT2004StrategySymbols::getAnotherPlayerIsInReadyState | ( | ) |
A function for the symbol "another-player-is-in-ready-state".
Definition at line 527 of file GT2004StrategySymbols.cpp.
References BehaviorTeamMessage::ready.
Referenced by registerSymbols().
bool GT2004StrategySymbols::getAnotherTeammateIsPerformingAKick | ( | ) |
A function for the symbol "another-teammate-is-performing-a-kick"
Definition at line 559 of file GT2004StrategySymbols.cpp.
References BehaviorTeamMessage::performingAKick.
Referenced by registerSymbols().
double GT2004StrategySymbols::getGoalieMaxPositionSpeed | ( | ) |
A function for the symbol "goalie-max-position-speed"
Definition at line 457 of file GT2004StrategySymbols.cpp.
References BehaviorControlInterfaces::ballModel, Geometry::distanceTo(), max, min, and BallModel::seen.
Referenced by registerSymbols().
double GT2004StrategySymbols::getRobotNumber | ( | ) | [inline] |
Definition at line 55 of file GT2004StrategySymbols.h.
References getPlayer(), and Player::getPlayerNumber().
Referenced by registerSymbols().
double GT2004StrategySymbols::getSearchBallX | ( | ) |
A function for the symbol "search-ball.x"
Definition at line 639 of file GT2004StrategySymbols.cpp.
References BehaviorTeamMessage::defensiveSupporter, Player::four, getPlayer(), SystemCall::getTimeSince(), BehaviorTeamMessage::offensiveSupporter, role, BehaviorTeamMessage::striker, Player::three, and Player::two.
Referenced by registerSymbols().
bool GT2004StrategySymbols::getTheStrikerIsNotPlayingNearTheOpponentGoal | ( | ) |
A function for the symbol "the-striker-is-not-playing-near-the-opponent-goal"
Definition at line 591 of file GT2004StrategySymbols.cpp.
References BehaviorTeamMessage::striker.
Referenced by registerSymbols().
bool GT2004StrategySymbols::getTheStrikerIsNotPlayingNearTheOwnGoal | ( | ) |
A function for the symbol "the-striker-is-not-playing-near-the-own-goal"
Definition at line 623 of file GT2004StrategySymbols.cpp.
References BehaviorTeamMessage::striker.
Referenced by registerSymbols().
bool GT2004StrategySymbols::getTheStrikerIsPlayingNearTheOpponentGoal | ( | ) |
A function for the symbol "the-striker-is-playing-near-the-opponent-goal"
Definition at line 575 of file GT2004StrategySymbols.cpp.
References BehaviorTeamMessage::striker.
Referenced by registerSymbols().
bool GT2004StrategySymbols::getTheStrikerIsPlayingNearTheOwnGoal | ( | ) |
A function for the symbol "the-striker-is-playing-near-the-own-goal"
Definition at line 607 of file GT2004StrategySymbols.cpp.
References BehaviorTeamMessage::striker.
Referenced by registerSymbols().
void GT2004StrategySymbols::registerSymbols | ( | Xabsl2Engine & | engine | ) |
registers the symbols at an engine
Definition at line 34 of file GT2004StrategySymbols.cpp.
References angleToTeammateIndex, BehaviorTeamMessage::defensiveSupporter, estimatedTimeToReachBall, BehaviorTeamMessage::finished, BehaviorTeamMessage::gameState, getAngleToTeammate(), getAnotherPlayerIsInInitialState(), getAnotherPlayerIsInReadyState(), getAnotherTeammateIsPerformingAKick(), getGoalieMaxPositionSpeed(), getRobotNumber(), getSearchBallX(), getTheStrikerIsNotPlayingNearTheOpponentGoal(), getTheStrikerIsNotPlayingNearTheOwnGoal(), getTheStrikerIsPlayingNearTheOpponentGoal(), getTheStrikerIsPlayingNearTheOwnGoal(), BehaviorTeamMessage::goalie, BehaviorTeamMessage::initial, BehaviorTeamMessage::message, BehaviorTeamMessage::none, BehaviorTeamMessage::offensiveSupporter, BehaviorControlInterfaces::outgoingBehaviorTeamMessage, BehaviorTeamMessage::penalized, BehaviorTeamMessage::performingAKick, BehaviorTeamMessage::playing, BehaviorTeamMessage::ready, Xabsl2Symbols::registerBooleanInputSymbol(), Xabsl2Symbols::registerDecimalInputFunction(), Xabsl2Symbols::registerDecimalInputFunctionParameter(), Xabsl2Symbols::registerDecimalInputSymbol(), Xabsl2Symbols::registerEnumeratedInputSymbol(), Xabsl2Symbols::registerEnumeratedInputSymbolEnumElement(), Xabsl2Symbols::registerEnumeratedOutputSymbol(), Xabsl2Symbols::registerEnumeratedOutputSymbolEnumElement(), role, BehaviorTeamMessage::set, BehaviorTeamMessage::sleep, and BehaviorTeamMessage::striker.
Referenced by GT2004BehaviorControl::registerSymbolsAndBasicBehaviors().
void GT2004StrategySymbols::update | ( | ) |
updates the symbols
Definition at line 107 of file GT2004StrategySymbols.cpp.
References computeRole(), BehaviorTeamMessage::dynamicRole, estimatedTimeToReachBall, BehaviorTeamMessage::estimatedTimeToReachBall, estimateTimeToReachBall(), BehaviorControlInterfaces::outgoingBehaviorTeamMessage, and role.
Referenced by GT2004BehaviorControl::execute().
Definition at line 60 of file GT2004StrategySymbols.h.
Referenced by getAngleToTeammate(), and registerSymbols().
enum { ... } GT2004StrategySymbols::doProfile |
Output-Symbols for Profiler
current estimated time to reach the ball
Definition at line 38 of file GT2004StrategySymbols.h.
Referenced by estimateTimeToReachBall(), GT2004StrategySymbols(), registerSymbols(), and update().
current role
Definition at line 44 of file GT2004StrategySymbols.h.
Referenced by computeRole(), getSearchBallX(), GT2004StrategySymbols(), GT2004BehaviorControl::postExecute(), registerSymbols(), and update().
enum { ... } GT2004StrategySymbols::writeProfile |