/*Copyright (c) 2000-2003, Jelle Kok, University of AmsterdamAll rights reserved.Redistribution and use in source and binary forms, with or withoutmodification, are permitted provided that the following conditions are met:1. Redistributions of source code must retain the above copyright notice, thislist of conditions and the following disclaimer.2. Redistributions in binary form must reproduce the above copyright notice,this list of conditions and the following disclaimer in the documentationand/or other materials provided with the distribution.3. Neither the name of the University of Amsterdam nor the names of itscontributors may be used to endorse or promote products derived from thissoftware without specific prior written permission.THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THEIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AREDISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLEFOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIALDAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS ORSERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVERCAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USEOF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.*//*! \file WorldModel.h<pre><b>File:</b>          WorldModel.h<b>Project:</b>       Robocup Soccer Simulation Team: UvA Trilearn<b>Authors:</b>       Jelle Kok<b>Created:</b>       12/02/2001<b>Last Revision:</b> $ID$<b>Contents:</b>      class declarations of WorldModel. This class contains               methods that give information about the current and future               state of the world (soccer field).<hr size=2><h2><b>Changes</b></h2><b>Date</b>             <b>Author</b>          <b>Comment</b>12/02/2001       Jelle Kok       Initial version created</pre>*/#ifndef _WORLD_MODEL_#define _WORLD_MODEL_#include "Objects.h"        // needed for PlayerObject#include "PlayerSettings.h" // needed for getPlayerDistTolerance#include "Logger.h"         // needed for Log#include "Formations.h"     // needed for getStrategicPosition (prediction)#include <list>#ifdef WIN32  #include <windows.h>      // needed for mutex#else  #include <pthread.h>      // needed for pthread_mutex  #include <sys/time.h>     // needed for gettimeofday#endifextern Logger Log;          // defined in Logger.Cextern Logger LogDraw;      // defined in Logger.C#ifdef WIN32/*! This function shall return the integral value (represented as a double)    nearest x in the direction of the current rounding mode. The current    rounding mode is implementation-defined.    If the current rounding mode rounds toward negative infinity, then rint()    shall be equivalent to floor() . If the current rounding mode rounds    toward positive infinity, then rint() shall be equivalent to ceil().    url: http://www.opengroup.org/onlinepubs/007904975/functions/rint.html */inline double rint(double x){    return floor(x+0.5);}/*! The drand48() function shall return non-negative,    double-precision, floating-point values, uniformly distributed over the    interval [0.0,1.0).    url: http://www.opengroup.org/onlinepubs/007904975/functions/drand48.html*/inline double drand48(){    return ((double)(rand() % 100)) / 100;}#endif/*****************************************************************************//********************** CLASS WORLDMODEL *************************************//*****************************************************************************//*! The Class WorlModel contains all the RoboCup information that is available    on the field. It contains information about the players, ball, flags and    lines. Furthermore it contains methods to extract useful information.    The (large amount of) attributes can be separated into different groups:    - Environmental information: specific information about the soccer server    - Match information: general information about the current state of a match    - Object information: all the objects on the soccer field    - Action information: actions that the agent has performed    The methods can also be divided into different groups:    - Retrieval methods: directly retrieving information of objects    - Update methods: update world based on new sensory information    - Prediction methods: predict future states based on past perceptions    - High-Level methods: deriving high-level conclusions from basic worldstate*/class WorldModel{private:  /***************************************************************************/  /*************************** ATTRIBUTES ************************************/  /***************************************************************************/  ////////////////////////// ENVIRONMENTAL INFORMATION ////////////////////////  ServerSettings *SS;                     /*!< Reference to all server params*/  PlayerSettings *PS;                     /*!< Reference to all client params*/  HeteroPlayerSettings pt[MAX_HETERO_PLAYERS]; /*!< info hetero player types */  Formations     *formations;             /*!< Reference to formation used   */  ////////////////////////// CURRENT MATCH INFORMATION ////////////////////////  // time information  Time          timeLastSeeMessage;      /*!< server time of last see msg    */  Time          timeLastRecvSeeMessage;  /*!< server time received see msg   */  Time          timeLastSenseMessage;    /*!< server time of last sense msg  */  Time          timeLastRecvSenseMessage;/*!< server time received sense msg */  Time          timeLastHearMessage;     /*!< server time of last hear msg   */  bool          bNewInfo;                /*!< indicates new info from server */  Time          timeLastCatch;           /*!< time of last catch by goalie   */  Time          timeLastRefMessage;      /*!< time of last referee message   */  // player information  char          strTeamName[MAX_TEAM_NAME_LENGTH]; /*!< Team name            */  int           iPlayerNumber;           /*!< player number in soccerserver  */  SideT         sideSide;                /*!< side where the agent started   */  // match information  PlayModeT     playMode;                /*!< current play mode in the game  */  int           iGoalDiff;               /*!< goal difference                */  ////////////////////////// OBJECTS //////////////////////////////////////////  // dynamic objects  BallObject    Ball;                    /*!< information of the ball        */  AgentObject   agentObject;             /*!< information of the agent itself*/  PlayerObject  Teammates[MAX_TEAMMATES];/*!< information of all teammates   */  PlayerObject  Opponents[MAX_OPPONENTS];/*!< information of all opponents   */  PlayerObject  UnknownPlayers[MAX_TEAMMATES+MAX_OPPONENTS];                                        /*!< info unknown players are stored                                             here til mapped to known player */  int           iNrUnknownPlayers;       /*!< number of unknown players      */  // fixed objects  FixedObject   Flags[MAX_FLAGS];        /*!< all flag information           */  FixedObject   Lines[MAX_LINES];        /*!< all line information           */  ////////////////////////// LOCALIZATION INFORMATION /////////////////////////  static const int iNrParticlesAgent = 100; /*!<nr of particles used to store                                                agent position               */  static const int iNrParticlesBall  = 100; /*! nr of particles used to store                                                ball position and velocity   */  VecPosition   particlesPosAgent[iNrParticlesAgent]; /*!< particles to store                                                         agent position      */  VecPosition   particlesPosBall[iNrParticlesBall];   /*! particles to store                                                         ball position       */  VecPosition   particlesVelBall[iNrParticlesBall];   /*! particles to store                                                         ball velocity       */  double        dTotalVarVel;  double        dTotalVarPos;  ////////////////////////// PREVIOUS ACTION INFORMATION //////////////////////  // arrays needed to keep track of actually performed actions.  SoccerCommand queuedCommands[CMD_MAX_COMMANDS];   /*!<all performed commands,                                                        set by ActHandler    */  bool          performedCommands[CMD_MAX_COMMANDS];/*!< commands performed in                                                        last cycle, index is                                                        CommandT             */  int           iCommandCounters[CMD_MAX_COMMANDS]; /*!< counters for all                                                        performed commands   */  ////////////////////////// VARIOUS //////////////////////////////////////////  // attributes only applicable to the coach  Time          timeCheckBall;           /*!< time bsCheckBall applies to    */  BallStatusT   bsCheckBall;             /*!< state of the ball              */  // synchronization#ifdef WIN32  CRITICAL_SECTION mutex_newInfo;       /*!< mutex to protect bNewInfo       */  HANDLE           event_newInfo;       /*!< event for bNewInfo              */#else  pthread_mutex_t  mutex_newInfo;       /*!< mutex to protect bNewInfo       */  pthread_cond_t   cond_newInfo;        /*!< cond variable for bNewInfo      */#endif  bool          m_bRecvThink;           /*!< think received in sync. mode    */  // communication  char          m_strPlayerMsg[MAX_MSG];/*!< message communicated by player  */  int           m_iCycleInMsg;          /*!< cycle contained in message      */  Time          m_timePlayerMsg;        /*!< time corresponding to player msg*/  int           m_iMessageSender;       /*!< player who send message         */  char          m_strCommunicate[MAX_SAY_MSG];/*!< string for communicating  */  // attention to  ObjectT       m_objFocus;             /*!< object to which is focused.     */  // offside line  double        m_dCommOffsideX;        /*!< communicated offside line       */  Time          m_timeCommOffsideX;     /*!< time Communicated offside line  */  // feature information  Feature       m_features[MAX_FEATURES];/*!< features applied to cur. cycle.*/  // other  bool          m_bPerformedKick;       /*!<Indicates whether ball was kicked*/