?? worldmodel.h
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// heterogeneous player information set<ObjectT> m_setSubstitutedOpp; /*!< Set of substituted opp players. */ // upcoming view angle/quality SoccerCommand m_changeViewCommand; /*!< last sent change_view command */ // side of penalty shootout SideT m_sidePenalty;public: bool m_bWasCollision; /*!<Indicates whether it is collision*/ Time m_timeLastCollision; /*!< Last collision time */ // statistics int iNrHoles; /*!< nr of holes recorded */ int iNrOpponentsSeen; /*!< total nr of opponents seen */ int iNrTeammatesSeen; /*!< total nr of teammates seen */ // last received messages char strLastSeeMessage [MAX_MSG]; /*!< Last see message */ char strLastSenseMessage[MAX_MSG]; /*!< Last sense_body message */ char strLastHearMessage [MAX_MSG]; /*!< Last hear message */ /***************************************************************************/ /*************************** OPERATIONS ************************************/ /***************************************************************************/ ////////////////////////// DIRECT RETRIEVAL (WorldModel.C) //////////////////private: // private methods Object* getObjectPtrFromType ( ObjectT o );public: // get and set methods of attributes in WorldModel itself void setTimeLastCatch ( Time time ); int getTimeSinceLastCatch ( ); bool setTimeLastRefereeMessage ( Time time ); Time getTimeLastRefereeMessage ( ); Time getCurrentTime ( ); int getCurrentCycle ( ); bool isTimeStopped ( ); bool isLastMessageSee ( )const; Time getTimeLastSeeGlobalMessage( )const; bool setTimeLastSeeGlobalMessage( Time time ); Time getTimeLastSeeMessage ( )const; Time getTimeLastRecvSeeMessage ( )const; bool setTimeLastSeeMessage ( Time time ); Time getTimeLastSenseMessage ( )const; Time getTimeLastRecvSenseMessage( )const; bool setTimeLastSenseMessage ( Time time ); Time getTimeLastHearMessage ( )const; bool setTimeLastHearMessage ( Time time ); int getPlayerNumber ( )const; bool setPlayerNumber ( int i ); SideT getSide ( )const; bool setSide ( SideT s ); const char* getTeamName ( )const; bool setTeamName ( char *str ); PlayModeT getPlayMode ( )const; bool setPlayMode ( PlayModeT pm ); int getGoalDiff ( )const; int addOneToGoalDiff ( ); int subtractOneFromGoalDiff ( ); int getNrOfCommands ( CommandT c )const; bool setNrOfCommands ( CommandT c, int i ); Time getTimeCheckBall ( )const; bool setTimeCheckBall ( Time time ); BallStatusT getCheckBallStatus ( )const; bool setCheckBallStatus ( BallStatusT bs ); bool getRecvThink ( ); char* getCommunicationString ( ); bool setCommunicationString ( char* srt ); ObjectT getObjectFocus ( ); bool setObjectFocus ( ObjectT obj ); // iterate over a specific object set ObjectT iterateObjectStart ( int &iIndex, ObjectSetT g, double dConf = -1.0, bool bForward = false ); ObjectT iterateObjectNext ( int &iIndex, ObjectSetT g, double dConf = -1.0, bool bForward = false ); void iterateObjectDone ( int &iIndex ); // get and set methods for agent information ObjectT getAgentObjectType ( )const; int getAgentIndex ( )const; bool setAgentObjectType ( ObjectT o ); AngDeg getAgentBodyAngleRelToNeck ( )const; AngDeg getAgentGlobalNeckAngle ( )const; AngDeg getAgentGlobalBodyAngle ( ); Stamina getAgentStamina ( )const; TiredNessT getAgentTiredNess ( )const; double getAgentEffort ( )const; VecPosition getAgentGlobalVelocity ( )const; double getAgentSpeed ( )const; VecPosition getAgentGlobalPosition ( )const; bool setAgentViewAngle ( ViewAngleT va ) ; ViewAngleT getAgentViewAngle ( )const; bool setAgentViewQuality ( ViewQualityT vq ) ; ViewQualityT getAgentViewQuality ( )const; double getAgentViewFrequency ( ViewAngleT va = VA_ILLEGAL, ViewQualityT vq = VQ_ILLEGAL ); bool getAgentArmMovable ( ); VecPosition getAgentArmPosition ( ); int getAgentArmExpires ( ); // get methods for ball information VecPosition getBallPos ( ); double getBallSpeed ( ); AngDeg getBallDirection ( ); // get method for different information about a specific object Time getTimeGlobalPosition ( ObjectT o ); VecPosition getGlobalPosition ( ObjectT o ); Time getTimeGlobalVelocity ( ObjectT o ); VecPosition getGlobalVelocity ( ObjectT o ); double getRelativeDistance ( ObjectT o ); VecPosition getRelativePosition ( ObjectT o ); AngDeg getRelativeAngle ( ObjectT o, bool bWithBody = false); Time getTimeGlobalAngles ( ObjectT o ); AngDeg getGlobalBodyAngle ( ObjectT o ); AngDeg getGlobalNeckAngle ( ObjectT o ); AngDeg getGlobalAngle ( ObjectT o ); double getConfidence ( ObjectT o ); bool isKnownPlayer ( ObjectT o ); ObjectT getOppGoalieType ( ); ObjectT getOwnGoalieType ( ); Time getTimeLastSeen ( ObjectT o ); Time getTimeChangeInformation ( ObjectT o ); VecPosition getGlobalPositionLastSee ( ObjectT o ); Time getTimeGlobalPositionLastSee( ObjectT o ); VecPosition getGlobalVelocityLastSee ( ObjectT o ); AngDeg getGlobalBodyAngleLastSee ( ObjectT o ); int getTackleExpires ( ObjectT o =OBJECT_ILLEGAL); AngDeg getGlobalArmDirection ( ObjectT o ); Time getTimeGlobalArmDirection ( ObjectT o ); double getProbTackleSucceeds ( ObjectT o = OBJECT_ILLEGAL, int iExtraCycles = 0, VecPosition *pos = NULL ); double getProbTackleClosestOpp ( int iExtraCycles = 0 ); list<ObjectT> getListCloseOpponents ( VecPosition pos, double dDist = 15 ); // set methods for objects bool setIsKnownPlayer ( ObjectT o, bool isKnownPlayer ); bool setTimeLastSeen ( ObjectT o, Time time ); bool setHeteroPlayerType ( ObjectT o, int iPlayer ); // formation information PlayerT getPlayerType ( ObjectT o =OBJECT_ILLEGAL); bool isInPlayerSet ( ObjectT o, PlayerSetT ps ); // get method for information about goals VecPosition getPosOpponentGoal ( ); VecPosition getPosOwnGoal ( ); double getRelDistanceOpponentGoal ( ); AngDeg getRelAngleOpponentGoal ( ); ObjectT getLastOpponentDefender ( double *dX = NULL ); // get and methods about fixed specifications (heterogeneous players) HeteroPlayerSettings getInfoHeteroPlayer ( int iIndex ); HeteroPlayerSettings getHeteroInfoPlayer ( ObjectT obj ); int getHeteroPlayerType ( ObjectT obj ); bool setSubstitutedOpp ( ObjectT obj ); ObjectT getSubstitutedOpp ( ); double getDashPowerRate ( ObjectT obj ); double getPlayerSpeedMax ( ObjectT obj ); double getPlayerDecay ( ObjectT obj ); double getMaximalKickDist ( ObjectT obj ); double getStaminaIncMax ( ObjectT obj ); double getPlayerSize ( ObjectT obj ); double getInertiaMoment ( ObjectT obj ); double getEffortMax ( ObjectT obj ); double getEffectiveMaxSpeed ( ObjectT obj, bool bWithNoise =false); // get method about previous commands bool isQueuedActionPerformed ( ); // methods that return truth values about current play mode bool isFreeKickUs ( PlayModeT pm = PM_ILLEGAL ); bool isFreeKickThem ( PlayModeT pm = PM_ILLEGAL ); bool isCornerKickUs ( PlayModeT pm = PM_ILLEGAL ); bool isCornerKickThem ( PlayModeT pm = PM_ILLEGAL ); bool isOffsideUs ( PlayModeT pm = PM_ILLEGAL ); bool isOffsideThem ( PlayModeT pm = PM_ILLEGAL ); bool isKickInUs ( PlayModeT pm = PM_ILLEGAL ); bool isKickInThem ( PlayModeT pm = PM_ILLEGAL ); bool isFreeKickFaultUs ( PlayModeT pm = PM_ILLEGAL ); bool isFreeKickFaultThem ( PlayModeT pm = PM_ILLEGAL ); bool isKickOffUs ( PlayModeT pm = PM_ILLEGAL ); bool isKickOffThem ( PlayModeT pm = PM_ILLEGAL ); bool isBackPassUs ( PlayModeT pm = PM_ILLEGAL ); bool isBackPassThem ( PlayModeT pm = PM_ILLEGAL ); bool isGoalKickUs ( PlayModeT pm = PM_ILLEGAL ); bool isGoalKickThem ( PlayModeT pm = PM_ILLEGAL ); bool isBeforeKickOff ( PlayModeT pm = PM_ILLEGAL ); bool isDeadBallUs ( PlayModeT pm = PM_ILLEGAL ); bool isDeadBallThem ( PlayModeT pm = PM_ILLEGAL ); bool isPenaltyUs ( PlayModeT pm = PM_ILLEGAL ); bool isPenaltyThem ( PlayModeT pm = PM_ILLEGAL ); bool isFullStateOn ( SideT s = SIDE_ILLEGAL ); // various methods bool setChangeViewCommand ( SoccerCommand soc ); SoccerCommand getChangeViewCommand ( ); SideT getSidePenalty ( ); bool setSidePenalty ( SideT side );?? 快捷鍵說明
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