manages action effect, command counter More...

#include <action_effector.h>

Public Member Functions
	ActionEffector (const PlayerAgent &agent)
	init member variables More...

	~ActionEffector ()
	destruct dynamic allocated command objects

void	reset ()
	reset all command effect. called just before action decision

void	incCommandCount (const PlayerCommand::Type type)
	increment command count More...

void	checkCommandCount (const BodySensor &sense)
	compare internal command count with sensed command count More...

std::ostream &	makeCommand (std::ostream &to)
	make command string and update last action time More...

void	clearAllCommands ()
	delete all command objects and say messages.

const PlayerBodyCommand *	bodyCommand () const
	get const pointer to the player's body command object More...

const PlayerTurnNeckCommand *	turnNeckCommand () const
	get const pointer to the player's turn_neck command object More...

const PlayerChangeViewCommand *	changeViewCommand () const
	get const pointer to the player's change_view command object More...

const PlayerSayCommand *	sayCommand () const
	get const pointer to the player's say command object More...

const PlayerPointtoCommand *	pointtoCommand () const
	get const pointer to the player's pointto command object More...

const PlayerAttentiontoCommand *	attentiontoCommand () const
	get const pointer to the player's attentionto command object More...

void	setKick (const double &power, const AngleDeg &rel_dir)
	create kick command and its effect with kick parameter More...

void	setDash (const double &power)
	create dash command and its effect with dash parameter More...

void	setDash (const double &power, const AngleDeg &rel_dir)
	create dash command and its effect with dash parameter More...

void	setTurn (const AngleDeg &moment)
	create turn command and its effect with turn parameter More...

void	setCatch ()
	create catch command. More...

void	setMove (const double &x, const double &y)
	create move command and its effect with move parameter More...

void	setTackle (const double &power_or_dir, const bool foul)
	create tackle command and its effect with tackle parameter More...

void	setTurnNeck (const AngleDeg &moment)
	create turn_neck command and its effect with turn_neck parameter More...

void	setChangeView (const ViewWidth &width)
	create change_view command More...

void	setChangeFocus (const double moment_dist, const AngleDeg &moment_dir)
	create change_focus command More...

void	addSayMessage (SayMessage *message)
	add new say message More...

bool	removeSayMessage (const char header)
	remove the registered say message if exist More...

void	clearSayMessage ()
	remove all registered say messages

void	setPointto (const double &x, const double &y)
	create pointto command and its effect with pointto parameter More...

void	setPointtoOff ()
	create pointto command by off mode

void	setAttentionto (const SideID side, const int unum)
	create attentionto command More...

void	setAttentiontoOff ()
	create attentionto command by off mode

const GameTime &	lastActionTime () const
	get last command composition time More...

PlayerCommand::Type	lastBodyCommandType () const
	get last perfomed command type to update SelfObject More...

PlayerCommand::Type	lastBodyCommandType (int i) const
	get last perfomed command type to update SelfObject More...

bool	doneTurnNeck () const
	check if turn_neck is performed to update SelfObject More...

void	getKickInfo (Vector2D accel, Vector2D accel_err) const
	get estimated kick action effect More...

void	getTurnInfo (double moment, double err) const
	get estimated turn action effect More...

void	getDashInfo (Vector2D accel, double power) const
	get estimated dash action effect More...

const Vector2D &	getMovePos () const
	get move action effect More...

const GameTime &	getCatchTime () const
	get last time catch action is performed More...

void	getTackleInfo (double power, double dir, bool *foul) const
	get tackle action effect More...

bool	tackleFoul () const
	get the last tackle foul switch. More...

double	getTurnNeckMoment () const
	get turn_neck action effect More...

const std::string &	getSayMessage () const
	get say action effect More...

int	getSayMessageLength () const
	get the total length of current reserved messages More...

const std::vector< SayMessage::Ptr > &	sayMessageCont () const
	get the reserved say messages More...

const Vector2D &	getPointtoPos () const
	get pointto action effect More...

AngleDeg	queuedNextSelfBody () const
	get estimated next body angle using queued action effect More...

AngleDeg	queuedNextMyBody () const
	get estimated next body angle using queued action effect More...

Vector2D	queuedNextSelfPos () const
	get estimated next position using queued action effect More...

Vector2D	queuedNextMyPos () const
	get estimated next position using queued action effect More...

bool	queuedNextBallKickable () const
	check if ball will be kickable in the next cycle More...

Vector2D	queuedNextBallPos () const
	get estimated next ball position using queued action effect More...

Vector2D	queuedNextBallVel () const
	get estimated next ball velocity using queued action effect More...

AngleDeg	queuedNextAngleFromBody (const Vector2D &target) const
	get estimated next angle of target point relative to estimated body angle using queued action effect More...

ViewWidth	queuedNextViewWidth () const
	get next view width using queued action effect More...

bool	queuedNextCanSeeWithTurnNeck (const Vector2D &point, const double &angle_buf) const
	get the next focus distance estimated by the queued acction effect More...

int	queuedNextSeeCycles () const
	get cycles till next see message arrival using queued action effect More...

Detailed Description

manages action effect, command counter

Constructor & Destructor Documentation

◆ ActionEffector()

rcsc::ActionEffector::ActionEffector ( const PlayerAgent & agent )

explicit

init member variables

Parameters

agent const reference to the PlayerAgent instance

Member Function Documentation

◆ addSayMessage()

void rcsc::ActionEffector::addSayMessage ( SayMessage * message )

add new say message

Parameters

message pointer to the dynamically allocated say message object.

◆ attentiontoCommand()

const PlayerAttentiontoCommand * rcsc::ActionEffector::attentiontoCommand ( ) const

inline

get const pointer to the player's attentionto command object

Returns: const pointer to the attentionto command object

◆ bodyCommand()

const PlayerBodyCommand * rcsc::ActionEffector::bodyCommand ( ) const

inline

get const pointer to the player's body command object

Returns: const pointer to the body command object

◆ changeViewCommand()

const PlayerChangeViewCommand * rcsc::ActionEffector::changeViewCommand ( ) const

inline

get const pointer to the player's change_view command object

Returns: const pointer to the change_view command object

◆ checkCommandCount()

void rcsc::ActionEffector::checkCommandCount ( const BodySensor & sense )

compare internal command count with sensed command count

Parameters

sense analyzed sense_body info

This method is called when sense_body received. This method MUST be called before WorldModel update

◆ doneTurnNeck()

bool rcsc::ActionEffector::doneTurnNeck ( ) const

inline

check if turn_neck is performed to update SelfObject

Returns: true if turn_neck is performed in previous cycle

◆ getCatchTime()

const GameTime & rcsc::ActionEffector::getCatchTime ( ) const

inline

get last time catch action is performed

Returns: game time object

◆ getDashInfo()

void rcsc::ActionEffector::getDashInfo	(	Vector2D *	accel,
		double *	power
	)		const

inline

get estimated dash action effect

Parameters

accel	variable pointer to store the estimated dash accel
power	variable pointer to store the used dash power

◆ getKickInfo()

void rcsc::ActionEffector::getKickInfo	(	Vector2D *	accel,
		Vector2D *	accel_err
	)		const

inline

get estimated kick action effect

Parameters

accel	variable pointer to store the estimated ball accel
accel_err	variable pointer to store the estimated ball accel error

◆ getMovePos()

const Vector2D & rcsc::ActionEffector::getMovePos ( ) const

inline

get move action effect

Returns: moved position

◆ getPointtoPos()

const Vector2D & rcsc::ActionEffector::getPointtoPos ( ) const

inline

get pointto action effect

Returns: estimated pointed position

◆ getSayMessage()

const std::string & rcsc::ActionEffector::getSayMessage ( ) const

inline

get say action effect

Returns: say message string

◆ getSayMessageLength()

int rcsc::ActionEffector::getSayMessageLength ( ) const

get the total length of current reserved messages

Returns: the total length of current reserved messages

◆ getTackleInfo()

void rcsc::ActionEffector::getTackleInfo	(	double *	power,
		double *	dir,
		bool *	foul
	)		const

inline

get tackle action effect

Parameters

power	variable pointer to store the used tackle power
dir	variable pointer to store the tackle direction

◆ getTurnInfo()

void rcsc::ActionEffector::getTurnInfo	(	double *	moment,
		double *	err
	)		const

inline

get estimated turn action effect

Parameters

moment	variable pointer to store the estimated actual turned moment
err	variable pointer to store the estimated turned moment error

◆ getTurnNeckMoment()

double rcsc::ActionEffector::getTurnNeckMoment ( ) const

inline

get turn_neck action effect

Returns: performed turn_neck moment

◆ incCommandCount()

void rcsc::ActionEffector::incCommandCount ( const PlayerCommand::Type type )

increment command count

Parameters

type	target command type

◆ lastActionTime()

const GameTime & rcsc::ActionEffector::lastActionTime ( ) const

inline

get last command composition time

Returns: const reference to the game time

◆ lastBodyCommandType() [1/2]

PlayerCommand::Type rcsc::ActionEffector::lastBodyCommandType ( ) const

inline

get last perfomed command type to update SelfObject

Returns: command type Id

◆ lastBodyCommandType() [2/2]

PlayerCommand::Type rcsc::ActionEffector::lastBodyCommandType ( int i ) const

inline

get last perfomed command type to update SelfObject

Returns: command type Id

◆ makeCommand()

std::ostream & rcsc::ActionEffector::makeCommand ( std::ostream & to )

make command string and update last action time

Parameters

to	reference to the output stream

Returns: reference to the output stream

After command string composition, all command objects are deleted.

◆ pointtoCommand()

const PlayerPointtoCommand * rcsc::ActionEffector::pointtoCommand ( ) const

inline

get const pointer to the player's pointto command object

Returns: const pointer to the pointto command object

◆ queuedNextAngleFromBody()

AngleDeg rcsc::ActionEffector::queuedNextAngleFromBody ( const Vector2D & target ) const

get estimated next angle of target point relative to estimated body angle using queued action effect

Parameters

target target point

Returns: angle relative to estimated body angle

◆ queuedNextBallKickable()

bool rcsc::ActionEffector::queuedNextBallKickable ( ) const

check if ball will be kickable in the next cycle

Returns: true if ball will be kickable

◆ queuedNextBallPos()

Vector2D rcsc::ActionEffector::queuedNextBallPos ( ) const

get estimated next ball position using queued action effect

Returns: estimated ball position

◆ queuedNextBallVel()

Vector2D rcsc::ActionEffector::queuedNextBallVel ( ) const

get estimated next ball velocity using queued action effect

Returns: estimated ball velocity

◆ queuedNextCanSeeWithTurnNeck()

bool rcsc::ActionEffector::queuedNextCanSeeWithTurnNeck	(	const Vector2D &	point,
		const double &	angle_buf
	)		const

get the next focus distance estimated by the queued acction effect

Returns: queued focus distance

get the next focus direction estimated by the queued acction effect

Returns: queued focus direction

check if the target point can see only by turn_neck with the buffer

Parameters

point	target point
angle_buf	angle buffer for the half view width

Returns: true if player can see the point only by turn_neck

◆ queuedNextMyBody()

AngleDeg rcsc::ActionEffector::queuedNextMyBody ( ) const

inline

get estimated next body angle using queued action effect

Returns: estimated body angle

◆ queuedNextMyPos()

Vector2D rcsc::ActionEffector::queuedNextMyPos ( ) const

inline

get estimated next position using queued action effect

Returns: estimated global position

◆ queuedNextSeeCycles()

int rcsc::ActionEffector::queuedNextSeeCycles ( ) const

get cycles till next see message arrival using queued action effect

Returns: cycle value till next see message

◆ queuedNextSelfBody()

AngleDeg rcsc::ActionEffector::queuedNextSelfBody ( ) const

get estimated next body angle using queued action effect

Returns: estimated body angle

◆ queuedNextSelfPos()

Vector2D rcsc::ActionEffector::queuedNextSelfPos ( ) const

get estimated next position using queued action effect

Returns: estimated global position

◆ queuedNextViewWidth()

ViewWidth rcsc::ActionEffector::queuedNextViewWidth ( ) const

get next view width using queued action effect

Returns: queued view width

◆ removeSayMessage()

bool rcsc::ActionEffector::removeSayMessage ( const char header )

remove the registered say message if exist

Parameters

header message header character

Returns: true if removed

◆ sayCommand()

const PlayerSayCommand * rcsc::ActionEffector::sayCommand ( ) const

inline

get const pointer to the player's say command object

Returns: const pointer to the say command object

◆ sayMessageCont()

const std::vector< SayMessage::Ptr > & rcsc::ActionEffector::sayMessageCont ( ) const

inline

get the reserved say messages

Returns: const reference to the say message builder container

◆ setAttentionto()

void rcsc::ActionEffector::setAttentionto	(	const SideID	side,
		const int	unum
	)

create attentionto command

Parameters

side	target player's side
unum	target player's uniform number

◆ setCatch()

void rcsc::ActionEffector::setCatch ( )

create catch command.

command argumment, catch direction is calculated in this method. catch direction is calculated using diagonal line direction

◆ setChangeFocus()

void rcsc::ActionEffector::setChangeFocus	(	const double	moment_dist,
		const AngleDeg &	moment_dir
	)

create change_focus command

Parameters

moment_dist	distance added to the current focus point
moment_dir	direction added to the current focus point

◆ setChangeView()

void rcsc::ActionEffector::setChangeView ( const ViewWidth & width )

create change_view command

Parameters

width view width that player wants.

ViewQuality should not be changed by user

◆ setDash() [1/2]

void rcsc::ActionEffector::setDash ( const double & power )

create dash command and its effect with dash parameter

Parameters

power dash power for command argument

power is normalized by server parameter useless dash power is reduceed automatically.

◆ setDash() [2/2]

void rcsc::ActionEffector::setDash	(	const double &	power,
		const AngleDeg &	rel_dir
	)

create dash command and its effect with dash parameter

Parameters

power	dash power for command argument
rel_dir	dash direction for command argument

power is normalized by server parameter useless dash power is reduceed automatically.

◆ setKick()

void rcsc::ActionEffector::setKick	(	const double &	power,
		const AngleDeg &	rel_dir
	)

create kick command and its effect with kick parameter

Parameters

power	kick power for command argument
rel_dir	kick direction relative to body angle for command argument

power is normalized by server parameter

◆ setMove()

void rcsc::ActionEffector::setMove	(	const double &	x,
		const double &	y
	)

create move command and its effect with move parameter

Parameters

x	move target point x
y	move target point y

◆ setPointto()

void rcsc::ActionEffector::setPointto	(	const double &	x,
		const double &	y
	)

create pointto command and its effect with pointto parameter

Parameters

x	target point x
y	target point y

◆ setTackle()

void rcsc::ActionEffector::setTackle	(	const double &	power_or_dir,
		const bool	foul
	)

create tackle command and its effect with tackle parameter

Parameters

power_or_dir	tackle power or directin for command argument
foul	intentional foul switch

power is normalized by server parameter

◆ setTurn()

void rcsc::ActionEffector::setTurn ( const AngleDeg & moment )

create turn command and its effect with turn parameter

Parameters

moment turn moment that player wants to perform

command argument, moment is calculated using current player's speed and its inertia moment parameter. command argument moment is normalized by server parameter.

◆ setTurnNeck()

void rcsc::ActionEffector::setTurnNeck ( const AngleDeg & moment )

create turn_neck command and its effect with turn_neck parameter

Parameters

moment turn_neck moment that player wants to perform

command argument moment is normalized by server parameter.

◆ tackleFoul()

bool rcsc::ActionEffector::tackleFoul ( ) const

inline

get the last tackle foul switch.

Returns: the value of the last tackle foul switch.

◆ turnNeckCommand()

const PlayerTurnNeckCommand * rcsc::ActionEffector::turnNeckCommand ( ) const

inline

get const pointer to the player's turn_neck command object

Returns: const pointer to the turn_neck command object

The documentation for this class was generated from the following file:

/home/kali/rc/tools/include/rcsc/player/action_effector.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ActionEffector()

Member Function Documentation

◆ addSayMessage()

◆ attentiontoCommand()

◆ bodyCommand()

◆ changeViewCommand()

◆ checkCommandCount()

◆ doneTurnNeck()

◆ getCatchTime()

◆ getDashInfo()

◆ getKickInfo()

◆ getMovePos()

◆ getPointtoPos()

◆ getSayMessage()

◆ getSayMessageLength()

◆ getTackleInfo()

◆ getTurnInfo()

◆ getTurnNeckMoment()

◆ incCommandCount()

◆ lastActionTime()

◆ lastBodyCommandType() [1/2]

◆ lastBodyCommandType() [2/2]

◆ makeCommand()

◆ pointtoCommand()

◆ queuedNextAngleFromBody()

◆ queuedNextBallKickable()

◆ queuedNextBallPos()

◆ queuedNextBallVel()

◆ queuedNextCanSeeWithTurnNeck()

◆ queuedNextMyBody()

◆ queuedNextMyPos()

◆ queuedNextSeeCycles()

◆ queuedNextSelfBody()

◆ queuedNextSelfPos()

◆ queuedNextViewWidth()

◆ removeSayMessage()

◆ sayCommand()

◆ sayMessageCont()

◆ setAttentionto()

◆ setCatch()

◆ setChangeFocus()

◆ setChangeView()

◆ setDash() [1/2]

◆ setDash() [2/2]

◆ setKick()

◆ setMove()

◆ setPointto()

◆ setTackle()

◆ setTurn()

◆ setTurnNeck()

◆ tackleFoul()

◆ turnNeckCommand()