int            iLength,                                             int            iLeft             );  ObjectT       getMaxRangeUnknownPlayer   ( ObjectT        obj,                                              char*          strMsg            );  VecPosition   calculateVelocityDynamicObject( ObjectT     o                 );  bool          calculateStateBall2        ( VecPosition    *posGlobal,                                             VecPosition    *velGlobal        );  // methods to determine player state from perceived information  bool          calculateStatePlayer       ( ObjectT        o,                                             VecPosition    *posGlobal,                                             VecPosition    *velGlobal        );  // methods to calculate noise range (quantized noise)  bool          getMinMaxDistQuantizeValue ( double         dInput,                                             double         *dMin,                                             double         *dMax,                                             double         x1,                                             double         x2                );  bool          getMinMaxDirChange         ( double         dOutput,                                             double         *dMin,                                             double         *dMax,                                             double         x1                );  bool          getMinMaxDistChange        ( double         dOutput,                                             double         dDist,                                             double         *dMin,                                             double         *dMax,                                             double         x1,                                             double         xDist1,                                             double         xDist2            );  double        invQuantizeMin             ( double         dOutput,                                             double         dQuantizeStep     );  double        invQuantizeMax             ( double         dOutput,                                             double         dQuantizeStep     );public:  // various update methods  void          mapUnknownPlayers          ( Time           time              );  bool          updateSSToHeteroPlayerType ( int            i                 );  bool          resetTimeObjects           (                                  );  void          removeGhosts               (                                  );  ////////////////////////// PREDICTIONS (WorldModelPredict.C) /////////////////  // predictions of worldmodel about future states of different objects  bool          predictStateAfterCommand   ( SoccerCommand  com,                                             VecPosition    *pos,                                             VecPosition    *vel,                                             AngDeg         *angGlobalBody,                                             AngDeg         *angGlobalNeck,                                             Stamina        *sta = NULL       );  bool          predictAgentStateAfterCommand(SoccerCommand com,                                             VecPosition    *pos,                                             VecPosition    *vel,                                             AngDeg         *angBody,                                             AngDeg         *angNeck,                                             Stamina        *sta              );  VecPosition   predictAgentPosAfterCommand( SoccerCommand  com               );  void          predictStateAfterDash      ( double         dActualPower,                                             VecPosition    *pos,                                             VecPosition    *vel,                                             Stamina        *sta,                                             double         dDirection        );  void          predictStateAfterTurn      ( AngDeg         dSendAngle,                                             VecPosition    *pos,                                             VecPosition    *vel,                                             AngDeg         *angBody,                                             AngDeg         *angNeck,                                             Stamina        *sta = NULL       );  VecPosition   predictPosAfterNrCycles    ( ObjectT        o,                                             int            iCycles,                                             int            iDashPower = 100,                                             VecPosition    *vel = NULL       );  VecPosition   predictAgentPos            ( int            iCycles,                                             int            iDashPower = 0    );  int           predictNrCyclesToPoint     ( ObjectT        o,                                             VecPosition    posTo,                                             AngDeg         ang               );  int           predictNrCyclesToObject    ( ObjectT        objFrom,                                             ObjectT        objTo             );  void          predictStaminaAfterDash    ( double         dPower,                                             Stamina        *sta              );  bool          isCollisionAfterDash       ( SoccerCommand  soc               );    ////////////////////////// HIGH-LEVEL METHODS (WorldModelHighLevel.C) ////////  // methods that return the number of players in a certain area of the field  int           getNrInSetInRectangle      ( ObjectSetT     objectSet,                                             Rectangle      *rect = NULL      );  int           getNrInSetInCircle         ( ObjectSetT     objectSet,                                             Circle         c                 );  int           getNrInSetInCone           ( ObjectSetT     objectSet,                                             double         dWidth,                                             VecPosition    start,                                             VecPosition    end               );  // method that return the closest or fastest player to a certain pos or object  ObjectT       getClosestInSetTo          ( ObjectSetT     objectSet,                                             ObjectT        o ,                                             double         *dDist = NULL,                                             double         dConfThr = -1.0   );  ObjectT       getClosestInSetTo          ( ObjectSetT     objectSet,                                             VecPosition    pos,                                             double         *dDist = NULL,                                             double         dConfThr = -1.0   );  ObjectT       getClosestInSetTo          ( ObjectSetT     objectSet,                                             Line           l,                                             VecPosition    pos1,                                             VecPosition    pos2,                                             double         *dDistToLine = NULL,                                             double         *dDistPos1ToP= NULL);  ObjectT       getClosestRelativeInSet    ( ObjectSetT     set,                                             double         *dDist = NULL     );  ObjectT       getSecondClosestInSetTo    ( ObjectSetT     objectSet,                                             ObjectT        o,                                             double         *dDist = NULL,                                             double         dConfThr = -1.0   );  ObjectT       getSecondClosestRelativeInSet( ObjectSetT   set,                                             double         *dDist = NULL     );  ObjectT       getFastestInSetTo          ( ObjectSetT     objectSet,                                             ObjectT        o,                                             int            *iCycles = NULL   );  ObjectT       getFastestInSetTo          ( ObjectSetT     objectSet,                                             VecPosition    pos,                                             VecPosition    vel,                                             double         dDecay,                                             int            *iCycles = NULL   );  ObjectT       getFurthestInSetTo         ( ObjectSetT     objectSet,                                             ObjectT        o ,                                             double         *dDist = NULL,                                             double         dConfThr = -1.0   );  ObjectT       getFurthestRelativeInSet   ( ObjectSetT     set,                                             double         *dDist = NULL     );  double        getMaxTraveledDistance     ( ObjectT        o                 );  // various methods dealing with sets of objects  ObjectT       getFirstEmptySpotInSet     ( ObjectSetT     objectSet,                                             int            iUnknownPlayer=-1 );  // boolean methods that indicate whether an object fulfills a  constraint  bool          isVisible                  ( ObjectT        o                 );  bool          isBallKickable             (                                  );  bool          isBallCatchable            (                                  );  bool          isBallHeadingToGoal        (                                  );  bool          isBallInOurPossesion       (                                  );  bool          isBallInOwnPenaltyArea     (                                  );  bool          isInOwnPenaltyArea         ( VecPosition    pos               );  bool          isInTheirPenaltyArea       ( VecPosition    pos               );  bool          isConfidenceGood           ( ObjectT                          );  bool          isConfidenceVeryGood       ( ObjectT                          );  bool          isOnside                   ( ObjectT                          );  bool          isOpponentAtAngle          ( AngDeg         ang,                                             double         dDist             );               // various methods that supply specific information about the field  Time          getTimeFromConfidence      ( double         dConf             );  double        getOffsideX                ( bool           bIncludeComm= true);  VecPosition   getOuterPositionInField    ( VecPosition    pos,                                             AngDeg         ang,                                             double         dDist = 3.0,                                             bool           bWithPenalty = true);  AngDeg        getDirectionOfWidestAngle  ( VecPosition    posOrg,                                             AngDeg         angMin,                                             AngDeg         angMax,                                             AngDeg         *ang,                                             double         dDist             );  // strategic positioning  VecPosition   getStrategicPosition      ( int            iPlayer = -1       );      // methods  for computing the actual argument for a soccer command.  double        getActualKickPowerRate     (                                  );  double        getKickPowerForSpeed       ( double         dDesiredSpeed     );  double        getKickSpeedToTravel       ( double         dDistance,                                             double         dEndSpeed         );  double        getFirstSpeedFromEndSpeed  ( double         dEndSpeed,                                             double         dCycles           );  double        getFirstSpeedFromDist      ( double         dDist,                                             double         dCycles           );  double        getEndSpeedFromFirstSpeed  ( double         dFirstSpeed,                                             double         dCycles           );  AngDeg        getAngleForTurn            ( AngDeg         angDesiredAngle,                                             double         dSpeed            );  AngDeg        getActualTurnAngle         ( AngDeg         angActualAngle,                                             double         dSpeed            );  double        getPowerForDash            ( VecPosition    posRelTo,                                             AngDeg         angBody,                                             VecPosition    vel,                                             double         dEffort           );  ////////////////////////// VARIOUS (WorldModel.C) ////////////////////////////  // constructor  WorldModel                               ( ServerSettings *ss,                                             PlayerSettings *ps,                                             Formations     *fs               );   // print information about WorldModel  void          show                       ( ostream        &os = cout        );  void          show                       ( ObjectSetT     set,                                             ostream        &os = cout        );  void          showQueuedCommands         ( ostream        &os = cout        );  void          show                       ( ObjectT        o,                                            ostream        &os = cout        );  // methods that deal with timing information  bool          waitForNewInformation      (                                  );  // methods that deal with debugging  void          logObjectInformation       ( int            iLogLevel,                                             ObjectT        o                 );};#endif