/* -*- Mode: C++ -*- *//* MemOption.h * CMUnited99 (soccer client for Robocup99) * Peter Stone <pstone@cs.cmu.edu> * Computer Science Department * Carnegie Mellon University * Copyright (C) 1999 Peter Stone * * CMUnited-99 was created by Peter Stone, Patrick Riley, and Manuela Veloso * * You may copy and distribute this program freely as long as you retain this notice. * If you make any changes or have any comments we would appreciate a message. * For more information, please see http://www.cs.cmu.edu/~robosoccer/ */#ifndef _OPTION_H_#define _OPTION_H_#include "types.h"struct option_t {   char	optname[50] ;   void	*vptr ;   int	vsize ;};enum InputType{ V_INT, V_FLOAT, V_BOOL, V_STRING,	 V_ONOFF,		 V_NONE		};#define MAX_TEAMNAME_LEN  20#define MAX_HOST_LEN      50#define MAX_FILE_LEN      256#define MAX_FP_LEN        20#define MAX_TREE_STEM_LEN 50/* Things to be read at startup that never change */class OptionInfo {public:  OptionInfo();  void GetOptions(int, char**);  void GetOptions(char*);  /* Client version params */  Bool  VP_test_l;  Bool  VP_test_r;  Bool  VP_test;  Bool  VP_train_DT;  Bool  VP_use_DT;  /* Initialize params */  int   IP_my_score;  int   IP_their_score;  int   IP_reconnect;    /* If non-zero, reconnect to that unum */    /* Client params */  char  MyTeamName[MAX_TEAMNAME_LEN];  Bool  CP_goalie;  Bool  CP_save_log;  int   CP_save_freq;  Bool  CP_save_sound_log;  int   CP_save_sound_freq;  int   CP_save_action_log_level;  int   CP_save_action_freq;  float CP_send_ban_recv_step_factor;  int   CP_interrupts_per_cycle;  int   CP_interrupts_left_to_act;  float CP_max_conf;  float CP_min_valid_conf;  float CP_conf_decay;  float CP_player_conf_decay;  float CP_ball_conf_decay;  float CP_max_player_move_factor;  /* multiply by SP_player_speed_max to see how far a player can be 				       from its last position and still be considered the same player */  int   CP_max_say_interval;  float CP_ball_moving_threshold;  float CP_dodge_angle_buffer;  float CP_dodge_distance_buffer;  float CP_dodge_power;  float CP_dodge_angle;  char  CP_tree_stem[MAX_TREE_STEM_LEN];  int   CP_DT_evaluate_interval;  int   CP_say_tired_interval;  float CP_tired_buffer;  Bool  CP_set_plays;  int   CP_Setplay_Delay;  int   CP_Setplay_Say_Delay;  int   CP_Setplay_Max_Delay;  int   CP_Setplay_Time_Limit;  float CP_kickable_buffer;  int   CP_mark_persist_time;  float CP_track_max_distance;  float CP_track_min_distance;  Bool  CP_pull_offsides;  Bool  CP_pull_offsides_when_winning;  Bool  CP_spar;  Bool  CP_mark;  Bool  CP_communicate;  int   CP_change_view_for_ball_cycles;  float CP_defer_kick_to_teammate_buffer;  float CP_scan_overlap_angle;  float CP_pull_offside_threshold;  float CP_pull_offside_buffer;    float CP_ball_forget_angle_buf;  float CP_player_forget_angle_buf;  float CP_ball_forget_dist_buf;  float CP_player_forget_dist_buf;    /* pat added these */  Bool CP_use_new_position_based_vel;  Bool CP_stop_on_error;  /* these parameters affect turnball */  float CP_max_turn_kick_pow;  float CP_opt_ctrl_dist;  float CP_closest_margin;  float CP_dokick_factor;  /* these basically affect the way turnball stops */  float CP_KickTo_err;  float CP_max_ignore_vel;  int   CP_kick_time_space;  float CP_max_est_err;  float CP_holdball_kickable_buffer;  int   CP_stop_ball_power;  int   CP_possessor_intercept_space;  int   CP_can_keep_ball_cycle_buffer;    /* no longer used  float CP_hard_kick_margin;  float CP_hard_kick_factor;   float CP_hard_kick_end_turn_dist; */  float CP_hard_kick_dist_buffer;  int   CP_max_hard_kick_angle_err;  /* angle off perpendicualr to start ball for hardest kick */  int   CP_hardest_kick_ball_ang;   float CP_hardest_kick_ball_dist;   int   CP_hardest_kick_player_ang;  float CP_max_dash_help_kick_angle;    int   CP_max_go_to_point_angle_err;  int   CP_max_int_lookahead;  float CP_intercept_close_dist;  int   CP_intercept_step;  int   CP_my_intercept_step;  int   CP_intercept_aim_ahead;  int   CP_no_turn_max_cyc_diff; /* used for normal interception */  float CP_no_turn_max_dist_diff; /* used for ball_path intercept */  float CP_turnball_opp_worry_dist;   float CP_collision_buffer;  float CP_behind_angle;  int   CP_time_for_full_rotation;  float CP_ball_vel_invalidation_factor;  /* dribble params */  int   CP_dribble_dash_pow;  float CP_dribble_ball_dist;  /* dist where opponent starts to affect where we dribble ball */  float CP_dribble_ignore_opp_dist ;  /* dist of opponent that makes us go to DM_Strict mode */  float CP_dribble_worry_opp_dist;  /* angle we normally like to dribble at */  float CP_dribble_angle_norm ;  /* max and min distnaces to worry about dodging a player */  float CP_dribble_dodge_max_dist;  /* angle diff to make us turn if dodging */  float CP_dribble_dodge_angle_err ;  /* how far off in expected angle we let a ball before we kick it to correct */  float CP_dribble_exp_angle_buffer ;  /* if drib_ang > 180 - X, we will just dribble on the side where the ball is */   float CP_dribble_angle_ignore_buffer;  float CP_dribble_dodge_close_dist;  float CP_can_dribble_cone_ratio;  float CP_dribble_towards_length;  float CP_dribble_sideline_buffer;  float CP_dribble_circle_inner_rad;  float CP_dribble_circle_outer_rad;  float CP_dribble_circle_ang; //angle realtive to dribble angle to look for players  Bool  CP_dribble_scan_field;     float CP_move_imp_1v1_initial;  float CP_move_imp_1v1_inc;  float CP_move_imp_1v1_threshold;  float CP_at_point_buffer;  float CP_overrun_dist;  float CP_def_block_dist;  float CP_def_block_dist_ratio;  float CP_overrun_buffer;  float CP_breakaway_buffer;  float CP_our_breakaway_kickable_buffer;    float CP_their_breakaway_front_kickable_buffer;    float CP_their_breakaway_back_kickable_buffer;    float CP_goalie_breakaway_kickable_buffer;      float CP_breakaway_approach_x;  float CP_breakaway_approach_y;  int   CP_breakaway_targ_valid_time;  int   CP_breakaway_min_goalie_steal_time;  int   CP_breakaway_kick_run_min_cycles;  int   CP_breakaway_kick_run_max_cycles;  float CP_their_breakaway_min_cone_dist_wid;  float CP_our_breakaway_min_cone_dist_wid;  float CP_breakaway_middle_buffer;  float CP_breakaway_kick_run_worry_dist;  int   CP_breakaway_mode; // used to test diff breakaway styles    float CP_beat_offsides_buffer;  float CP_beat_offsides_threshold;  float CP_beat_offsides_max_x;  float CP_congestion_epsilon;  float CP_back_pass_opponent_buffer;  float CP_back_pass_offside_buffer;  float CP_min_less_congested_pass_dist;    float CP_cycles_to_kick;  /* parameters for moving to a standing ball */  float CP_static_kick_dist_err;  float CP_static_kick_ang_err;  /* no longer used   float CP_static_kick_dist;  float CP_static_kick_ang;  float CP_static_kick_overrun_dist;  */    float CP_goalie_baseline_buffer;  float CP_goalie_scan_angle_err;  float CP_goalie_at_point_buffer;  float CP_goalie_vis_angle_err;  float CP_goalie_max_shot_distance;  float CP_goalie_min_pos_dist;  float CP_goalie_max_pos_dist;  float CP_goalie_max_forward_percent;  float CP_goalie_ball_ang_for_corner;    float CP_goalie_max_come_out_dist;  float CP_goalie_ball_dist_for_corner;  float CP_goalie_ball_dist_for_center;  float CP_goalie_free_kick_dist;  float CP_goalie_go_to_ball_cone_ratio;  int   CP_goalie_warn_space;  Bool  CP_goalie_comes_out;  int   CP_goalie_catch_wait_time;  float CP_goalie_opponent_dist_to_block;  float CP_goalie_position_weight_dist;  int   CP_goalie_narrow_sideline_cyc;  float CP_goalie_no_buffer_dist;    float CP_clear_ball_ang_step;  float CP_clear_ball_cone_ratio;  float CP_clear_ball_max_dist;  float CP_clear_offensive_min_horiz_dist;  float CP_clear_offensive_min_angle;  float CP_should_cross_corner_dist;  float CP_should_cross_baseline_buffer;  float CP_should_move_to_cross_corner_dist;  float CP_cross_pt_x;  float CP_cross_pt_y;  float CP_cross_target_vel;  float CP_dont_dribble_to_middle_min_x;    /* not used anymore    float CP_hardest_kick_shot_distance;    float CP_moderate_kick_shot_distance;  */  float CP_good_shot_distance;  float CP_shot_distance;  int   CP_cycles_to_kick_buffer;  float CP_shot_speed;  int CP_shot_goalie_react_buffer;  int CP_good_shot_goalie_react_buffer;  int CP_better_shot_cyc_diff;  //float CP_breakaway_shot_distance; no longer used  /* Formation params */  char  FP_initial_formation[MAX_FP_LEN];  char  FP_formation_when_tied[MAX_FP_LEN];  char  FP_formation_when_losing[MAX_FP_LEN];  char  FP_formation_when_losing_lots[MAX_FP_LEN];  char  FP_formation_when_winning[MAX_FP_LEN];  char  FP_initial_hc_method[MAX_FP_LEN];  char  FP_initial_mc_method[MAX_FP_LEN];  int   FP_initial_player_1_pos;  int   FP_initial_player_2_pos;  int   FP_initial_player_3_pos;  int   FP_initial_player_4_pos;  int   FP_initial_player_5_pos;  int   FP_initial_player_6_pos;  int   FP_initial_player_7_pos;  int   FP_initial_player_8_pos;  int   FP_initial_player_9_pos;  int   FP_initial_player_10_pos;  int   FP_initial_player_11_pos;  int   FP_goalie_number;  /* Server params */  float SP_pitch_length;  float SP_pitch_width;  float SP_pitch_margin;  float SP_penalty_area_length;  float SP_penalty_area_width;  float SP_goal_area_length;  float SP_goal_area_width;  float SP_penalty_spot_dist;  float SP_corner_arc_r;  float SP_free_kick_buffer;  int   SP_after_goal_wait;  float SP_feel_distance;  int   SP_num_lines;  int   SP_num_markers;  float SP_unum_far_length;  float SP_unum_too_far_length;  float SP_team_far_length;  float SP_team_too_far_length;  float SP_version;  int   SP_team_size;  int   SP_half;  char  SP_host[MAX_HOST_LEN];  float SP_goal_width;         float SP_player_size;	  float SP_player_decay;    	  float SP_player_rand;	  float SP_player_weight;	  float SP_player_speed_max;	  float SP_stamina_max;	  float SP_stamina_inc;	  float SP_recover_dec_thr;	  float SP_recover_min; 	  float SP_recover_dec; 	  float SP_effort_dec_thr;	  float SP_effort_min;	  float SP_effort_dec;	  float SP_effort_inc_thr;	  float SP_effort_inc;	  float SP_ball_size;		  float SP_ball_decay;	  float SP_ball_rand;		  float SP_ball_weight;	  float SP_ball_speed_max;	  float SP_dash_power_rate;	  float SP_kick_power_rate;	  float SP_kickable_margin;	  float SP_kickable_area;	  float SP_catch_prob;	  float SP_catch_area_l;	  float SP_catch_area_w;	  float SP_max_power;		  float SP_min_power;		  float SP_max_moment;		  float SP_min_moment;		  float SP_max_neck_angle;  float SP_min_neck_angle;  float SP_max_neck_moment;  float SP_min_neck_moment;  float SP_visible_angle;	  float SP_visible_dist;	  float SP_audio_cut_dist;	  float SP_dist_qstep;	  float SP_land_qstep;	  float SP_ckmargin;	  float SP_wind_dir;	  float SP_wind_force;	  float SP_wind_rand;	  Bool SP_wind_none;  Bool SP_wind_random;  int SP_half_time;  int SP_port;  int SP_coach_port;  int SP_olcoach_port;  int SP_simulator_step;  int SP_send_step;  int SP_recv_step;  int SP_say_msg_size;  int SP_hear_max;  int SP_hear_inc;  int SP_hear_decay;  int SP_catch_ban_cycle;  Bool SP_coach_mode;  Bool SP_coach_w_referee_mode;  int SP_say_coach_cnt_max;	  int SP_say_coach_msg_size;  int SP_send_vi_step;  int SP_look_step;  Bool SP_use_offside;  Bool SP_forbid_kickoff_offside;  char SP_logfile[MAX_FILE_LEN];  char SP_recfile[MAX_FILE_LEN];  Bool SP_rec_log;  int  SP_rec_ver;  char SP_replay[MAX_FILE_LEN];  Bool SP_verbose;  Bool SP_send_log;  float SP_offside_area;  float SP_inertia_moment;  int   SP_sense_body_step;  float SP_offside_kick_margin;  Bool  SP_record_messages;};#endif