****************************************************************** UvA Trilearn 2002 - University of Amsterdam, The Netherlands  ** Created by:           Jelle Kok                               ** Team Coordinator:     Frans Groen                             ** Research Coordinator: Nikos Vlassis                           * * Copyright 2000-2001.  Jelle Kok and Remco de Boer             ** Copyright 2001-2002.  Jelle Kok                               ** All rights reserved.                                          ******************************************************************Last update: 02-07-2002General information-------------------This directory contains the source files and configuration files for the UvATrilearn 2002 soccer simulation team which reached 4th place at RoboCup-2002.The released code contains our low-level and intermediate level implementation(agent-environment synchronization method, world model, player skills), but notour high-level decision procedure. Instead, we have included a simple high-levelaction selection strategy which is the same as that of the Simple Portugal team.The fastest player to the ball intercepts the ball and shoots it to a randomcorner in the opponent goal regardless of his position on the field. Theremaining players move to a strategic position which is determined by their homeposition in the formation and by the position of the ball. Basically this release equals the source code released in 2001. The main differences are some added functionality, bug-fixes and the conversion to workwith the newest soccer server (8.x). Documentation-------------The source code has been extensively documented using Doxygen (www.doxygen.org).The created html documentation can be downloaded from our website or generatedusing the configuration file `doxygen.cfg' located in the source directory. Hereit is assumed that the program `dot' has been installed to create collaborationdiagrams. If this is not the case then set the variable `HAVE_DOT' in the file`doxygen.cfg' to `NO'.Furthermore, our master's thesis explains every aspect of the team in muchdetail. This theis can also be downloaded from our website:http://www.science.uva.nl/~jellekok/ Acknowledgements----------------The authors have initially built the team from scratch for their master'sgraduation project at the University of Amsterdam. Although we have not copiedany code from other teams, we have looked at some of their methods and used thisknowledge for our own implementation. For this we would like to thank thefollowing teams:- FC Portugal 2000: for their team formation and Simple Portugal team- CMUnited-99     : for their interception and message parsing methods- Cyberoos 2000   : for the description of their synchronization method- Essex Wizards   : for the description of their multi-threaded architectureUsage-----A binary can be created using the supplied `Makefile'. Its default configurationis for Linux, but can be easily changed to work under Solaris (see contents ofthe Makefile for details). Other platforms have not been tested. After creatingthe binaries, they can be started using the start-up script `start.sh' (seecontents of this file for details). It is also possible to control an agentusing the keyboard. To start an agent in this mode one must use the option`-mode 1' to start a player, i.e. use `trilearn_player -mode 1'. To getinformation about the effect of the various key strokes one can type `help'.Possibilities are, for example, "d 100 10" to send a (dash 100) command in thenext 10 cycles, or "ka 30 0" to kick the ball to position (30,0). To get anindication of how our code can be used to build your own team, the user can lookat the method `deMeer5()' in the file `Player.C'.More information---------------- More information can be found at the official UvA Trilearn website:   http://www.science.uva.nl/~jellekok/robocup/index.html or contact:    Jelle Kok     (jellekok@science.uva.nl)   Remco de Boer (remdboer@science.uva.nl)Global overview of classes--------------------------A global overview of the various classes is as shown below. Note that theSenseHandler, ActHandler and other classes form three different threads thatwork independently.                    Object          Player  -- Formations                      |               |                      |               |                      |               |                                        WorldModel --- BasicPlayer                         |               |                       |               |                      |               |                                      SenseHandler      ActHandler                      |               |                       |               |                      |_______________|                             |                         Connection                                                       |                             |                             |                        SOCCERSERVER                             Utility classes which are used by the classes listed above but which are notshown in the diagram are the following:- PlayerSettings- Logger, Timing (in Logger.C)- ServerSettings- SoccerTypes, SoccerCommand, Time (in SoccerTypes.C)- Geometry, Line, Circle, Rectangle, VecPosition (all in Geometry.C)- ParseDescription of classes----------------------A description of each of the classes is given below.Connection==========This class makes a connection with a socket and contains methods for sendingmessages to and receiving messages from this socket.SenseHandler============This class handles the processing of messages that the agent receives from theserver. It parses these messages and sends the extracted information to theWorldModel. It also sets a signal to indicate when an action should be sent tothe server; this signal is handled by the ActHandler.ActHandler==========The ActHandler class deals with actuator output. It stores actions into twodifferent queues:- m_queueOneCycleCommand: contains commands which can only be executed once                          during a cycle (kick, dash, etc.); the command which                          has been received last is sent to the server.- m_queueMultipleCommands: contains commands which can be executed concurrently                           with commands in m_queueOneCycleCommand (turn_neck,                           say, etc.); all commands in this list are sent to the                           server.When the ActHandler receives a signal, it converts the soccer commands intostring messages and sends them to the server.WorldModel==========This class contains the current representation of the world as observed by theagent. This representation includes information about all the objects on thefield such as the positions and velocities of all the players and the ball.Information concerning the current play mode is also stored, as well as the timeand the score. Furthermore, the WorldModel contains various types of methodsthat deal with the world state information in different ways:- Retrieval methods:  for directly retrieving information about objects in the                      world model; these methods are defined in the file                      `WorldModel.C'; this file also contains methods for                      iterating over a specific set of objects; these methods                      make it possible to compare information about different                      objects in the same set (e.g. OBJECT_SET_OPPONENTS).- Update methods:     for updating the world model based on new sensory                      information received from the SenseHandler; these methods                      are defined in the file `WorldModelUpdate.C'.- Prediction methods: for predicting future states of the world based on past                      perceptions and for predicting the effect of actions                      performed by the agent; these methods are defined in the                      file `WorldModelPredict.C'.- High-level methods: for deriving high-level conclusions from basic information                      about the state of the world (e.g. determining the fastest                      teammate to the ball); these methods are defined in the                      file `WorldModelHighLevel.C'.Object======This class contains information about all the objects in the simulation. Itsimplementation is spread over six separate classes which together form an objecttype hierarchy. These classes are the following:- Object:        abstract superclass that contains estimates (and associated                 confidence values) for the global positions of all the objects                 and that defines methods for retrieving an updating this                 information.- FixedObject:   subclass of the Object class that contains information about                 the stationary objects on the field (flags, lines and goals);                 it adds no additional attributes to those inherited from the                 Object superclass.- DynamicObject: subclass of the Object class that contains information about                 mobile objects; it adds velocity information to the general                 information provided by the Object class.- BallObject:    subclass of the DynamicObject class which contains information                 about the ball; it adds no additional attributes to those                 inherited from the DynamicObject superclass.- PlayerObject:  subclass of the DynamicObject class which contains information                 about a specific player on the field (either a teammate or an                 opponent); it adds attributes denoting the global neck angle                 and global body angle of the player to the information provided                 by the DynamicObject class and it holds a boolean attribute                 which indicates whether the player is a goalkeeper or not; the