/* -*- Mode: C++ -*- *//* MemAction.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 _MEMACTION_H_#define _MEMACTION_H_#include "MemPosition.h"/****************************************************************************************/typedef struct PLAYERINTERCEPTINFO {  Time time;  float dash_pow;  int lookahead;  InterceptRes res;  int numCyc;  Vector pos;  float dash_pow_to_use;} PlayerInterceptInfo;typedef struct TURNKICKCOMMAND {  CMDType type;  Time time;  float angle;  float power;    Bool turn_neck;  float turn_neck_angle;} TurnKickCommand;const int LA_Default = -2;const int LA_BestSoFar = -1;/****************************************************************************************//****************************************************************************************//****************************************************************************************/class ActionInfo : public PositionInfo{public:  void Initialize();  // these are for hard kicking   Time HKTime;  int HKStep;  int HKStepNext;  TurnDir HKrot;  float VelAtPt2VelAtFoot(Vector pt, float targ_vel_at_pt);  /* these are for ball interception */  InterceptRes PlayerInterceptionResult(char side, Unum num, float dash_pow);  InterceptRes PlayerInterceptionResult(char side, Unum num)    { return PlayerInterceptionResult(side, num, 				      (side==MySide && TeammateTired(num)) ? SP_stamina_inc : SP_max_power); }  Bool PlayerInterceptionAble(char side, Unum num, float dash_pow);  Bool PlayerInterceptionAble(char side, Unum num)    { return PlayerInterceptionAble(side, num, 				    (side==MySide && TeammateTired(num)) ? SP_stamina_inc : SP_max_power); }  int PlayerInterceptionNumberCycles(char side, Unum num, float dash_pow);  int PlayerInterceptionNumberCycles(char side, Unum num)    { return PlayerInterceptionNumberCycles(side, num, 					    (side==MySide&&TeammateTired(num)) ? SP_stamina_inc:SP_max_power); }  Vector PlayerInterceptionPoint(char side, Unum num, float dash_pow);  Vector PlayerInterceptionPoint(char side, Unum num)    { return PlayerInterceptionPoint(side, num, 				     (side==MySide && TeammateTired(num)) ? SP_stamina_inc : SP_max_power); }  float PlayerInterceptionDashPower(char side, Unum num, float dash_pow);  float PlayerInterceptionDashPower(char side, Unum num)    { return PlayerInterceptionDashPower(side, num, 					 (side==MySide && TeammateTired(num)) ? SP_stamina_inc : SP_max_power); }    InterceptRes TeammateInterceptionResult(Unum num, float dash_pow)    { return PlayerInterceptionResult(MySide, num, dash_pow); }  InterceptRes TeammateInterceptionResult(Unum num)    { return (num == MyNumber) ?	MyInterceptionResult() :      TeammateInterceptionResult(num, TeammateTired(num) ? SP_stamina_inc : SP_max_power);    }  Bool TeammateInterceptionAble(Unum num, float dash_pow)    { return PlayerInterceptionAble(MySide, num, dash_pow); }  Bool TeammateInterceptionAble(Unum num)    { return (num == MyNumber) ?	MyInterceptionAble() :      TeammateInterceptionAble(num, TeammateTired(num) ? SP_stamina_inc : SP_max_power);    }  int TeammateInterceptionNumberCycles(Unum num, float dash_pow)    { return PlayerInterceptionNumberCycles(MySide, num, dash_pow); }  int TeammateInterceptionNumberCycles(Unum num)    { return  (num == MyNumber) ?	MyInterceptionNumberCycles() :      TeammateInterceptionNumberCycles(num, TeammateTired(num) ? SP_stamina_inc : SP_max_power);    }  Vector TeammateInterceptionPoint(Unum num, float dash_pow)    { return PlayerInterceptionPoint(MySide, num, dash_pow); }  Vector TeammateInterceptionPoint(Unum num)    { return  (num == MyNumber) ?	MyInterceptionPoint() :      TeammateInterceptionPoint(num, TeammateTired(num) ? SP_stamina_inc : SP_max_power); }  float TeammateInterceptionDashPower(Unum num, float dash_pow)    { return PlayerInterceptionDashPower(MySide, num, dash_pow); }  float TeammateInterceptionDashPower(Unum num)    { return  (num == MyNumber) ?	MyInterceptionDashPower() :      TeammateInterceptionDashPower(num, TeammateTired(num) ? SP_stamina_inc : SP_max_power);    }  InterceptRes OpponentInterceptionResult(Unum num, float dash_pow)    { return PlayerInterceptionResult(TheirSide, num, dash_pow); }  InterceptRes OpponentInterceptionResult(Unum num)    { return OpponentInterceptionResult(num, SP_max_power); }  Bool OpponentInterceptionAble(Unum num, float dash_pow)    { return PlayerInterceptionAble(TheirSide, num, dash_pow); }  Bool OpponentInterceptionAble(Unum num)    { return OpponentInterceptionAble(num, SP_max_power); }  int OpponentInterceptionNumberCycles(Unum num, float dash_pow)    { return PlayerInterceptionNumberCycles(TheirSide, num, dash_pow); }  int OpponentInterceptionNumberCycles(Unum num)    { return OpponentInterceptionNumberCycles(num, SP_max_power); }  Vector OpponentInterceptionPoint(Unum num, float dash_pow)    { return PlayerInterceptionPoint(TheirSide, num, dash_pow); }  Vector OpponentInterceptionPoint(Unum num)    { return OpponentInterceptionPoint(num, SP_max_power); }  float OpponentInterceptionDashPower(Unum num, float dash_pow)    { return PlayerInterceptionDashPower(TheirSide, num, dash_pow); }  float OpponentInterceptionDashPower(Unum num)    { return OpponentInterceptionDashPower(num, SP_max_power); }  InterceptRes MyInterceptionResult(float dash_pow)    { return PlayerInterceptionResult(MySide, MyNumber, dash_pow); }  InterceptRes MyInterceptionResult()    { return MyInterceptionResult(CorrectDashPowerForStamina(SP_max_power)); }  Bool MyInterceptionAble(float dash_pow)    { return PlayerInterceptionAble(MySide, MyNumber, dash_pow); }  Bool MyInterceptionAble()    { return MyInterceptionAble(CorrectDashPowerForStamina(SP_max_power)); }  int MyInterceptionNumberCycles(float dash_pow)    { return PlayerInterceptionNumberCycles(MySide, MyNumber, dash_pow); }  int MyInterceptionNumberCycles()    { return MyInterceptionNumberCycles(CorrectDashPowerForStamina(SP_max_power)); }  Vector MyInterceptionPoint(float dash_pow)    { return PlayerInterceptionPoint(MySide, MyNumber, dash_pow); }  Vector MyInterceptionPoint()    { return MyInterceptionPoint(CorrectDashPowerForStamina(SP_max_power)); }  float MyInterceptionDashPower(float dash_pow)    { return PlayerInterceptionDashPower(MySide, MyNumber, dash_pow); }  float MyInterceptionDashPower()    { return MyInterceptionDashPower(CorrectDashPowerForStamina(SP_max_power)); }  /* just min of what's been done so far - returns -1 if nothing done */  int GetInterceptionMinCyc();  inline void ResetInterceptionMinCyc()  { IntMinCycTime -= 1; }  inline int  GetInterceptionLookahead() { return InterceptLookahead; }  void SetInterceptionLookahead(int newval);  Bool BallPathInterceptValid();  Vector BallPathInterceptPoint();  Bool BallPathInterceptAmIThere(float buffer);  Bool BallPathInterceptAmIThere()    { return BallPathInterceptAmIThere(CP_at_point_buffer); }  float BallPathInterceptDistance();  /* careful! if ball is kickable, next func returns 0 */  int BallPathInterceptCyclesForBall();  Bool BallPathInterceptCanIGetThere(float max_pow = 100.0);  KickMode BestKickModeAbs(AngleDeg abs_ang);  KickMode BestKickMode(AngleDeg rel_ang)  /* Angle relative to body */    { return BestKickModeAbs(GetNormalizeAngleDeg(rel_ang + MyBodyAng())); }  int EstimatedCyclesToSteal(Unum opp, Vector ball_pos);    inline int EstimatedCyclesToSteal(Unum opp, AngleDeg ball_ang) //absolute angle    { return EstimatedCyclesToSteal(opp, MyPos() +				    Polar2Vector(CP_opt_ctrl_dist, ball_ang));    }  inline int EstimatedCyclesToSteal(Unum opp)    {      if (!BallPositionValid())	my_error("EstimateCyclesToSteal: don;t know where ball is");      return EstimatedCyclesToSteal(opp, BallAbsolutePosition());    }      Bool KickInProgress();   void StartKick(AngleDeg target_angle, KickMode mode, float target_vel, TurnDir rot=TURN_AVOID);  void StartShot(AngleDeg target_angle, KickMode mode, TurnDir rot=TURN_AVOID);  void StartPass(Unum target, float target_vel, TurnDir rot=TURN_AVOID);      AngleDeg       kick_in_progress_abs_angle;  float          kick_in_progress_target_vel;  KickMode       kick_in_progress_mode;  TurnDir        kick_in_progress_rotation;  Unum team_receiver;  Unum team_passer;   Time team_pass_time;  Unum FastestTeammateToBall();  Unum FastestOpponentToBall();  Unum BallPossessor();   /* possessor means can get there quickest */  char TeamInPossession();  Unum LastBallPossessor;  Time LastBallPossessorTime;private:  Bool           kick_in_progress;  Time           start_kick_time;  Time           kick_in_progress_time;  PlayerInterceptInfo* TeamIntInfo[MAX_PLAYERS];  PlayerInterceptInfo* OppIntInfo[MAX_PLAYERS];  Time Stored_Fastest_Teammate_Time;  Unum Stored_Fastest_Teammate;  Time Stored_Fastest_Opponent_Time;  Unum Stored_Fastest_Opponent;  int InterceptLookahead; /* can either be a positve number or a LA_constant			     from above */  int IntMinCyc;  Time IntMinCycTime;  void SetIntMinCyc(int newval);  void BallIntercept_active(float max_pow_to_use, int max_lookahead,			    char PlayerSide, Unum PlayerNum,			    PlayerInterceptInfo* pInfo);  PlayerInterceptInfo CloseBallInterception(float max_pow, int max_lookahead,					    Vector vBallPos, Vector vBallVel);  PlayerInterceptInfo  ActiveCanGetThere(float max_pow, int max_lookahead,					 Vector vBallPos, Vector vBallVel,					 char side, Unum num,					 Vector vPlayerPos, Vector vPlayerVel,					 float vPlayerAng, int PlayerAngValid,					 bool IsThisMe);  PlayerInterceptInfo* GetPlayerIntInfo(char side, Unum num);  PlayerInterceptInfo* VerifyIntInfo(char side, Unum num, float dash_pow);  bool IsSuccessRes(InterceptRes res)    { return (res == BI_CanChase || res == BI_ReadyToKick); }  Time BPItime;  Bool BPIvalid;  Bool BPIable;   float BPIdist;  Vector BPIpoint;  float BPIballcyc;  void VerifyBPIInfo();  int GetClosestPointToBallPath(Vector* pvPt, float* pNumCycles,				Vector PlayerPos, Vector BallPos,				Vector BallVel);  void BallIntercept_passive(float max_pow_to_use, 			     PlayerInterceptInfo* pInfo);      };inline Bool ActionInfo::BallPathInterceptValid(){  VerifyBPIInfo();  return BPIvalid;}#endif