/***************************************************************************************** *                                      SEU-3D *                     ------------------------------------------------- * Copyright (c) 2005, Yuan XU<xychn15@yahoo.com.cn>,Chang'e SHI<evelinesce@yahoo.com.cn> * Copyright (c) 2006, Yuan XU<xuyuan.cn@gmail.com>,Chunlu JIANG<JamAceWatermelon@gmail.com> * Southeast University ,China * All rights reserved. * * Additionally,this program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the * GNU Library General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. ****************************************************************************************/ #ifndef _OBJECT_H#define _OBJECT_H#ifdef __cplusplusextern "C"{#endif#ifdef __cplusplus}#endif#include "Settings.h"#include "Logger.h"#include "Action.h"#include <string>using namespace salt;using namespace std;//-*  mapping from gamestate string to TPlayMode    typedef std::map<std::string, TPlayMode> TPlayModeMap;	void setupPlayModeMap( TPlayModeMap &playModeMap );enum Vector3fType{	VT_GLOBAL_POS = 0,	VT_GLOBAL_VEL = 1,	VT_GLOBAL_ACC = 2,	VT_RELATIVE_POS = 3,	VT_RELATIVE_POS_SEEN = 4,		VT_UNKNOWN = 5,	VT_ILLEGAL = 6};enum VisionObject{	//-* ball    VO_BALL   = 0,	//-* fixed object    VO_FLAG1L = 1,    VO_FLAG1R = 2,    VO_FLAG2L = 3,    VO_FLAG2R = 4,    VO_GOAL1L = 5,    VO_GOAL1R = 6,    VO_GOAL2L = 7,    VO_GOAL2R = 8,	//-* teammate	VO_TEAMMATE_1 = 9,     VO_TEAMMATE_2 = 10,     VO_TEAMMATE_3 = 11,     VO_TEAMMATE_4 = 12,     VO_TEAMMATE_5 = 13,     VO_TEAMMATE_6 = 14,     VO_TEAMMATE_7 = 15,     VO_TEAMMATE_8 = 16,     VO_TEAMMATE_9 = 17,     VO_TEAMMATE_10 = 18,     VO_TEAMMATE_11 = 19,     VO_TEAMMATE_UNKNOWN = 20,	//-* opponent    VO_OPPONENT_1 = 21,     VO_OPPONENT_2 = 22,     VO_OPPONENT_3 = 23,     VO_OPPONENT_4 = 24,     VO_OPPONENT_5 = 25,     VO_OPPONENT_6 = 26,     VO_OPPONENT_7 = 27,     VO_OPPONENT_8 = 28,     VO_OPPONENT_9 = 29,     VO_OPPONENT_10 = 30,     VO_OPPONENT_11 = 31,     VO_OPPONENT_UNKNOWN = 32,	    VO_PLAYER_UNKNOWN  = 33,    VO_UNKNOWN = 34,     VO_ILLEGAL = 35 };/************************************************************************//************************ OBJECT ****************************************//************************************************************************/class Object{protected:	//-* record current and history data: [0]:current data;[1]last data...	//-- only vision message	deque< Time >			_timeSeen; //-* the time see this object	deque< VisionSense >	_visionSeen; //-* the vision message about the object	deque< Vector3f	>		_posRelativeSeen; //-* the relative position of the object from vision		public:	Object();	~Object();		//-* function get values	Time 		 getTimeSeen( unsigned int i = 0 ) const { return getDequeValue( _timeSeen, i ); } 	VisionSense  getVisionSeen( unsigned int i  = 0 ) const { return getDequeValue( _visionSeen, i ); }	Vector3f	 getPosRelativeSeen( unsigned int i = 0 ) const { return getDequeValue( _posRelativeSeen, i ); }	Vector3f	 getRelativePosSeen( unsigned int i = 0 ) const { return getDequeValue( _posRelativeSeen, i ); }	Vector3f	 getPosRelativeLastSeen() const { return getPosRelativeSeen( 0 ); }	Vector3f	 getRelativePosLastSeen() const { return getRelativePosSeen( 0 ); }	//-* update values	void updateLastSeen( Time timeLastSeen, VisionSense visionLastSeen );		//-* get vision error var	Vector3f getVisionError() const;};/*****************************************************************************//********************** FIXED OBJECT *****************************************//*****************************************************************************//*! Class FixedObject contains RoboCup information that is available for    objects that cannot move (flags, goals). Different variables are added to    the superclass Object. */class FixedObject: public Object{protected:	//-* record data	deque< Time	>			_time; //-* time of the corresponding information	Vector3f				_posGlobal; //-* Global position in the field,this will not be changed during the match	deque< Vector3f	>		_posRelative; //-* relative position of the objectpublic:	FixedObject();	~FixedObject();	//-* set and get global position	//-- it will not be changed during a match	void 		setGlobalPos( Vector3f posGlobal ) { _posGlobal = posGlobal; }	Vector3f 	getGlobalPos() const { return _posGlobal; }		//-* update position relative to me	//-- posRelative = posGlobal - posMe	void		updatePosRelative( Time time, Vector3f posMe );		//-* get position relative to me	Time		getTime( unsigned int i ) { return getDequeValue( _time, i ); }	Vector3f	getPosRelative( unsigned int i ) { return getDequeValue( _posRelative, i ); }	Vector3f	getPosRelative( Time time ) { return getDequeValueByTime( _time, time, _posRelative ); }};/*****************************************************************************//********************** DYNAMIC OBJECT ***************************************//*****************************************************************************//*! Class DynamicObject contains RoboCup information that is available for    objects that can move (players, ball). Different variables are added to    the superclass Object */class DynamicObject: public Object{protected:	//-* max speed and Acceletation...	float		_maxSpeed; //-* max speed of this object	float		_maxAcceletation; //-*  max Acceletation of this object	//-* record data	//-* position information	deque< Time	>			_time; //-* time of the corresponding information	deque< Vector3f	>		_posGlobal; //-* Global position in the field	deque< Vector3f	>		_posRelative; //-* relative position of the object	//-*  global velocity information	deque< Vector3f >   	_globalVelocity;      //-*  Global velocity of the object	deque< Vector3f	>		_globalAcceletation;	 //-*  global Acceletation of the objectpublic:	DynamicObject();	~DynamicObject();	//-* set parameters	void setMaxSpeed( float maxSpeed ) { _maxSpeed = maxSpeed; }	void setMaxAcceletation( float maxAcceletation ) { _maxAcceletation = maxAcceletation; }	//-* get parameters	float getMaxSpeed() const { return _maxSpeed; }	float getMaxAcceletation() const { return _maxAcceletation; }		Time		getTime( unsigned int i = 0 ) const { return getDequeValue( _time, i ); }			Vector3f	getGlobalPos( unsigned int i = 0 ) const { return getDequeValue( _posGlobal, i ); }	//Vector3f	getGlobalPos( Time time ) { return getDequeValueByTime( _time, time, _posGlobal ); }		Vector3f	getRelativePos( Step i = 0 ) const { return getDequeValue( _posRelative, i ); }	//Vector3f	getRelativePos( Time time ) const { return getDequeValueByTime( _time, time, _posRelative ); }		Vector3f	getGlobalVelocity( Step i = 0 ) const { return getDequeValue( _globalVelocity, i ); }	Vector3f	getGlobalVelocity( Time time ) const { return getDequeValueByTime( _time, time, _globalVelocity ); }		Vector3f	getGlobalAcceletation( unsigned int i = 0 ) const { return getDequeValue( _globalAcceletation, i ); }	Vector3f	getGlobalAcceletation( Time time ) const { return getDequeValueByTime( _time, time, _globalAcceletation ); }		//-* update dynamic information	void updateDynamic( const Time &time, const Vector3f &posGlobal, const Vector3f &posMe, const Vector3f &globalVelocity, const Vector3f &globalAcceletation);	//-* for update	Vector3f calculateGlobalPosFromVision( const Vector3f &posMyself) const;	Vector3f calculateGlobalVelFromVision( const Vector3f &velMyself) const;	Vector3f calculateGlobalPosFromMemory( const Time deltaTime) const;};/*****************************************************************************//********************* PLAYER OBJECT *****************************************//*****************************************************************************//*! Class PlayerObject contains RoboCup information that is available for    players. Different variables are added to the superclass DynamicObject   */class PlayerObject: public DynamicObject{protected:	float 	_mass; //-* mass of the players	float 	_radius; //-* radius of the players	bool	_isLive; //-* whether the players is live	string 	_teamName; //-* the team name of the players	unsigned int _num; //-*  the number of the players	//-* the interal state of the players	float _battery; //-* percentage of battery	float _temperature; //-* temperature of the palyerpublic:	PlayerObject();	~PlayerObject();	//-* set parameters	void setMass( float mass ) { _mass = mass; }	void setRadius( float radius ) { _radius = radius; }	void setTeamName( string teamName ) { _teamName = teamName; }	void setNum( unsigned int num ) { _num = num; }	void setBattery( float battery ) { _battery = battery; }	void setTemperature( float temperature ) { _temperature = temperature; }		//-* get parameters	float getMass() 		const { return _mass; }	float getRadius()		const { return _radius; }	string getTeamName() 	const { return _teamName; }	unsigned int getNum() 	const { return _num; }	float getBattery() 		const { return _battery; }	float getTemperature() 	const { return _temperature; }		//-* set and get the player live	//-- for some excpet suitation, some player dead	bool isLive() { return _isLive; }	void enLive() { _isLive = true; }	void disLive() { _isLive = false; }	};/*****************************************************************************//********************* BALL OBJECT *******************************************//*****************************************************************************//*! Class PlayerObject contains RoboCup information that is available for the    ball. No extra variables are added to superclass DynamicObject*/class BallObject: public DynamicObject{private:	float _mass; //-* mass of the ball	float _radius; //-* radius of the ball	//-- kalman configure parameters	Vector3f _kalmanP[4];	/** drag conf */	float _groundDragConf;	float _airDragConf;public:	BallObject();	~BallObject();	//-* set parameters	void setMass( float mass );	void setRadius( float radius ) { _radius = radius; }	void inline setKalmanP22( const Vector3f &P22) { _kalmanP[3] = P22; }	void setDragConf();		//-* get parameters	float getMass() const { return _mass; }	float getRadius() const { return _radius; }	Vector3f inline getKalmanP11() const { return _kalmanP[0]; }	Vector3f inline getKalmanP12() const { return _kalmanP[1]; }	Vector3f inline getKalmanP21() const { return _kalmanP[2]; }	Vector3f inline getKalmanP22() const { return _kalmanP[3]; }	bool isGroundBall( const Vector3f &posBall, const Vector3f &prePosBall, const Vector3f &preprePosBall,						const Vector3f &velBall, const Vector3f &preVelBall, const Vector3f &prepreVelBall) const;	bool isFallOnGround( const Vector3f &posBall, const Vector3f &prePosBall, const Vector3f &preprePosBall,						const Vector3f &velBall, const Vector3f &preVelBall, const Vector3f &prepreVelBall) const;	bool isBallStop( const Vector3f &posBall, const Vector3f &prePosBall, const Vector3f &preprePosBall,						const Vector3f &velBall, const Vector3f &preVelBall, const Vector3f &prepreVelBall,const float minSpeed = 0.01) const;	//bool isFallOnGround ( const Vector3f &posBall, const Vector3f &velBall) const;	//-* simulate physics	void predictStateAfterOneStep(	Vector3f &pos, Vector3f &prePos, Vector3f &preprePos,										Vector3f &vel, Vector3f &preVel, Vector3f &prepreVel ) const;	bool predictStateAfterNrSteps(	Vector3f &pos, Vector3f &prePos, Vector3f &preprePos,										Vector3f &vel, Vector3f &preVel, Vector3f &prepreVel,										int iStep = 1,										int iStepMax = max_intercept_steps ) const;	//float nnSimNextVel( const float v0 )const;	//bool simulate( Vector3f &pos, Vector3f &vel,const int iStep, const int iStepMax =1000 ) const;	//-* kalman filter	void updateKalman( const Step iStep );	void setupKalmanFilter();};/*****************************************************************************//********************* AGENT OBJECT ******************************************//*****************************************************************************//*! Class AgentObject contains RoboCup information that is available for the    agent. New variables are declared that extend a normal PlayerObject.*/class AgentObject: public PlayerObject{private:		Vector3f _driveForce; //-* the drive force of the agent	string _oppTeamName; //-*  the name of opponent team	//-- kalman configure parameters	Vector3f _kalmanP[4];public:	AgentObject();	~AgentObject();	//-* set parameters	void inline setDriveForce( Vector3f driveForce ) { _driveForce = driveForce; }	void inline setKalmanP22( const Vector3f &P22) { _kalmanP[3] = P22; }		//-* get parameters	Vector3f inline getDriveForce() const { return _driveForce; }	Vector3f inline getKalmanP11() const { return _kalmanP[0]; }	Vector3f inline getKalmanP12() const { return _kalmanP[1]; }	Vector3f inline getKalmanP21() const { return _kalmanP[2]; }	Vector3f inline getKalmanP22() const { return _kalmanP[3]; }		//-* kalman filter	void updateKalman( const Time deltaTime );	void setupKalmanFilter();};#endif /* _OBJECT_H */