player's internal field status More...

#include <world_model.h>

Public Types
enum	{ DIR_CONF_DIVS = 72 }

Public Member Functions
	WorldModel ()
	initialize member variables

	~WorldModel ()
	delete dynamically allocated memory

bool	init (const std::string &team_name, const SideID our_side, const int unum, const bool goalie, const double client_version)
	initialize by team information More...

bool	isValid () const
	get this world mode is valid or not More...

void	setValid (bool is_valid)
	set this world mode is valid or not More...

double	clientVersion () const
	get the client version. More...

const InterceptTable &	interceptTable () const
	get intercept table More...

const PenaltyKickState *	penaltyKickState () const
	get penalty kick state More...

const AudioMemory &	audioMemory () const
	get audio memory More...

void	setAudioMemory (std::shared_ptr< AudioMemory > memory)
	set new audio memory More...

void	setLocalization (std::shared_ptr< Localization > localization)
	set new localization method More...

void	setServerParam ()
	set server param. this method have to be called only once just after server_param message received.

void	setOurGoalieUnum (const int unum)
	set our goalie's uniform number using strategic information or coach message. More...

void	setTheirGoalieUnum (const int unum)
	set their goalie's uniform number using coach message. More...

void	setOurPlayerType (const int unum, const int id)
	set teammate player type & reset card status More...

void	setTheirPlayerType (const int unum, const int id)
	set opponent player type & reset card status More...

void	setCard (const SideID side, const int unum, const Card card)
	set yellow card information More...

void	setPenaltyKickTakerOrder (const std::vector< int > &unum_set)
	set current penalty kick taker. More...

void	updateAfterSenseBody (const BodySensor &sense_body, const ActionEffector &act, const GameTime &current)
	update by sense_body. More...

void	updateAfterSee (const VisualSensor &see, const BodySensor &sense_body, const ActionEffector &act, const GameTime &current)
	update by see info More...

void	updateAfterFullstate (const FullstateSensor &fullstate, const ActionEffector &act, const GameTime &current)
	update by fullstate info More...

void	updateGameMode (const GameMode &game_mode, const GameTime &current)
	update current playmode More...

void	setTrainingTime (const GameTime &t)
	set training start/end time More...

void	setViewMode (const ViewWidth &w, const ViewQuality &q)
	update self view move More...

void	updateJustBeforeDecision (const ActionEffector &act, const GameTime &current)
	internal update for action decision More...

void	updateJustAfterDecision (const ActionEffector &act)
	update using internal by command effects. This method is called just before command sending. More...

void	updatePlayer (const PlayerObject *player, const SideID side, const int unum, const bool goalie)
	set player's side/unum/goalie information More...

const std::string &	teamName () const
	get our teamname More...

const std::string &	ourTeamName () const

SideID	ourSide () const
	get our team side Id More...

const std::string &	theirTeamName () const
	get their teamname More...

SideID	theirSide () const
	get opponent team side Id More...

const GameTime &	time () const
	get last updated time (== current game time) More...

const GameTime &	senseBodyTime () const
	get last time updated by sense_body More...

const GameTime &	seeTime () const
	get last time updated by see More...

const GameTime &	fullstateTime () const
	get last time updated by fullstate More...

const GameTime &	decisionTime () const
	get the time value when the last action performed

const TimeStamp &	seeTimeStamp () const
	get the time stamp when see received

const TimeStamp &	decisionTimeStamp () const
	get the time stamp when action performed

const GameTime &	lastSetPlayStartTime () const
	get last setplay type playmode start time More...

int	getSetPlayCount () const
	get cycle count that setplay type playmode is keeped More...

const GameMode &	gameMode () const
	get current playmode info More...

const GameTime &	trainingTime () const
	get training start/end time More...

const SelfObject &	self () const
	get self info More...

const BallObject &	ball () const
	get the current ball info More...

const BallObject &	prevBall () const
	get the previous ball info More...

const PlayerObject::Cont &	teammates () const
	get teammates. the order is undefined. More...

const PlayerObject::Cont &	opponents () const
	get opponents(include unknown players). the order is undefined More...

const PlayerObject::Cont &	teammatesFromSelf () const
	get teammates sorted by distance from self More...

const PlayerObject::Cont &	opponentsFromSelf () const
	get opponents sorted by distance from self (includes unknown players) More...

const PlayerObject::Cont &	teammatesFromBall () const
	get teammates sorted by distance from ball More...

const PlayerObject::Cont &	opponentsFromBall () const
	get opponents sorted by distance from ball (includes unknown players) More...

int	ourGoalieUnum () const
	get the uniform number of teammate goalie More...

int	theirGoalieUnum () const
	get the uniform number of opponent goalie More...

const AbstractPlayerObject::Cont &	allPlayers () const
	get all players includes self. More...

const AbstractPlayerObject::Cont &	ourPlayers () const
	get all teammate players includes self. More...

const AbstractPlayerObject::Cont &	theirPlayers () const
	get all opponent players (includes unknown players) More...

const AbstractPlayerObject *	ourPlayer (const int unum) const
	get a teammate (or self) specified by uniform number More...

const AbstractPlayerObject *	theirPlayer (const int unum) const
	get an opponent specified by uniform number More...

double	ourRecovery (const int unum) const
	get (heard) recovery value of the specified player More...

double	ourStaminaCapacity (const int unum) const
	get (heard) stamina capacity value of the specified player More...

const PlayerObject *	getTeammateNearestToSelf (const int count_thr, const bool with_goalie=true) const
	get teammate nearest to self with confidence count check More...

const PlayerObject *	getOpponentNearestToSelf (const int count_thr, const bool with_goalie=true) const
	get opponent nearest to self with accuracy count check More...

double	getDistTeammateNearestToSelf (const int count_thr, const bool with_goalie=true) const
	get the distance from teammate nearest to self wtth accuracy count More...

double	getDistOpponentNearestToSelf (const int count_thr, const bool with_goalie=true) const
	get the distance from opponent nearest to self wtth accuracy count More...

const PlayerObject *	getTeammateNearestToBall (const int count_thr, const bool with_goalie=true) const
	get teammate nearest to with with confidence count check More...

const PlayerObject *	getOpponentNearestToBall (const int count_thr, const bool with_goalie=true) const
	get opponent nearest to ball with confidence count check More...

double	getDistTeammateNearestToBall (const int count_thr, const bool with_goalie) const
	get the distance to teammate nearest to ball wtth accuracy count More...

double	getDistOpponentNearestToBall (const int count_thr, const bool with_goalie=true) const
	get the distance to opponent nearest to ball wtth accuracy count More...

double	offsideLineX () const
	get estimated offside line x coordinate More...

double	prevOffsideLineX () const
	get estimated offside line x coordinate More...

int	offsideLineCount () const
	get the accuracy count for the offside line More...

double	ourOffenseLineX () const
	our offense line (consider ball pos) More...

double	ourDefenseLineX () const
	get our defense line (consider ball pos)(offside line for opponent) More...

double	theirOffenseLineX () const
	get their offense line (consider ball pos) More...

double	theirDefenseLineX () const
	get their defense line x value (consider ball pos) More...

double	ourOffensePlayerLineX () const
	get our offense player line (not consder ball pos) More...

double	ourDefensePlayerLineX () const
	get our defense player line (not consder ball pos) More...

double	theirOffensePlayerLineX () const
	get their offense player line (not consder ball pos) More...

double	theirDefensePlayerLineX () const
	get estimated their offense line x value More...

const PlayerObject *	kickableTeammate () const
	get the estimated kickable teammate if exist. More...

const PlayerObject *	kickableOpponent () const
	get the estimated kickable opponent if exist. More...

const PlayerObject *	maybeKickableTeammate () const
	get the estimated kickable teammate (maybe kickable). More...

const PlayerObject *	maybeKickableOpponent () const
	get the estimated kickable opponent (maybe kickable). More...

SideID	lastKickerSide () const
	get the estimated last kicker's side More...

int	lastKickerUnum () const
	get the estimated last kicker's uniform number More...

int	ourPlayerTypeId (const int unum) const
	get player type Id of teammate More...

const PlayerType *	ourPlayerType (const int unum) const
	get player type of the specified teammate More...

int	theirPlayerTypeId (const int unum) const
	get player type Id of opponent More...

const PlayerType *	theirPlayerType (const int unum) const
	get player type of the specified opponent More...

Card	ourCard (const int unum) const
	get teammate's yellow card status More...

Card	theirCard (const int unum) const
	get opponent's yellow card status More...

int	dirCount (const AngleDeg &angle) const
	get direction confidence count More...

int	dirRangeCount (const AngleDeg &angle, const double &width, int max_count, int sum_count, int *ave_count) const
	get max count, sum of count and average count of angle range More...

const ViewAreaCont &	viewAreaCont () const
	get view area history container More...

const ViewGridMap &	viewGridMap () const
	get field grid map that holds observation accuracy count More...

int	getPointCount (const Vector2D &point, const double &dir_thr) const
	get the specific point accuracy count More...

AbstractPlayerObject::Cont	getPlayers (const PlayerPredicate *predicate) const
	get the new container of AbstractPlayer matched with the predicate. More...

AbstractPlayerObject::Cont	getPlayers (std::shared_ptr< const PlayerPredicate > predicate) const
	get the new container of AbstractPlayer matched with the predicate. More...

void	getPlayers (AbstractPlayerObject::Cont &result, const PlayerPredicate *predicate) const
	get the new container of AbstractPlayer matched with the predicate. More...

void	getPlayers (AbstractPlayerObject::Cont &result, std::shared_ptr< const PlayerPredicate > predicate) const
	get the new container of AbstractPlayer matched with the predicate. More...

size_t	countPlayer (const PlayerPredicate *predicate) const
	get the number of players that satisfy an input predicate. More...

size_t	countPlayer (std::shared_ptr< const PlayerPredicate > predicate) const
	get the number of players that satisfy an input predicate. More...

const AbstractPlayerObject *	getOurGoalie () const
	get a goalie teammate (include self) More...

const AbstractPlayerObject *	getTheirGoalie () const

double	getDistTeammateNearestTo (const Vector2D &point, const int count_thr) const
	get the distance from input point to the nearest teammate More...

double	getDistOpponentNearestTo (const Vector2D &point, const int count_thr) const
	get the distance from input point to the nearest opponent More...

const PlayerObject *	getTeammateNearestTo (const Vector2D &point, const int count_thr, double *dist_to_point) const
	get teammate pointer nearest to point More...

const PlayerObject *	getTeammateNearestTo (const PlayerObject p, const int count_thr, double dist_to_point) const
	get teammate pointer nearest to the specified player More...

const PlayerObject *	getOpponentNearestTo (const Vector2D &point, const int count_thr, double *dist_to_point) const
	get opponent pointer nearest to point More...

const PlayerObject *	getOpponentNearestTo (const PlayerObject p, const int count_thr, double dist_to_point) const
	get teammate pointer nearest to the specified player More...

template<typename REGION >
bool	existTeammateIn (const REGION &region, const int count_thr, const bool with_goalie) const
	template utility. check if teammate exist in the specified region. More...

template<typename REGION >
bool	existOpponentIn (const REGION &region, const int count_thr, const bool with_goalie) const
	template utility. check if opponent exist in the specified region. More...

template<typename REGION >
size_t	countTeammatesIn (const REGION &region, const int count_thr, const bool with_goalie) const
	count the number of teammate exist in the specified region More...

template<typename REGION >
size_t	countOpponentsIn (const REGION &region, const int count_thr, const bool with_goalie) const
	count the number of opponent exist in the specified region More...

Static Public Attributes
static const double	DIST_TOO_FAR
	long distance

static const std::size_t	MAX_RECORD
	max record size

static const double	DIR_STEP
	the angle steps for dir confidence

Detailed Description

player's internal field status

Member Function Documentation

◆ allPlayers()

const AbstractPlayerObject::Cont & rcsc::WorldModel::allPlayers ( ) const

inline

get all players includes self.

Returns: const rerefence to the AbstractPlayerObject pointer container.

◆ audioMemory()

const AudioMemory & rcsc::WorldModel::audioMemory ( ) const

inline

get audio memory

Returns: const reference to the audio memory instance

◆ ball()

const BallObject & rcsc::WorldModel::ball ( ) const

inline

get the current ball info

Returns: const reference to the BallObject

◆ clientVersion()

double rcsc::WorldModel::clientVersion ( ) const

inline

get the client version.

Returns: the version numver

◆ countOpponentsIn()

template<typename REGION >

size_t rcsc::WorldModel::countOpponentsIn	(	const REGION &	region,
		const int	count_thr,
		const bool	with_goalie
	)		const

inline

count the number of opponent exist in the specified region

Parameters

region	template parameter. region to be checked
count_thr	confdence count threshold for players
with_goalie	if true, goalie player is cheked.

Returns: total count of opponent existed in the region

◆ countPlayer() [1/2]

size_t rcsc::WorldModel::countPlayer ( const PlayerPredicate * predicate ) const

get the number of players that satisfy an input predicate.

Parameters

predicate predicate predicate object for the player condition matching. This have to be a dynamically allocated object.

Returns: number of players.

◆ countPlayer() [2/2]

size_t rcsc::WorldModel::countPlayer ( std::shared_ptr< const PlayerPredicate > predicate ) const

get the number of players that satisfy an input predicate.

Parameters

predicate predicate predicate object for the player condition matching.

Returns: number of players.

◆ countTeammatesIn()

template<typename REGION >

size_t rcsc::WorldModel::countTeammatesIn	(	const REGION &	region,
		const int	count_thr,
		const bool	with_goalie
	)		const

inline

count the number of teammate exist in the specified region

Parameters

region	template parameter. region to be checked
count_thr	confdence count threshold for players
with_goalie	if true, goalie player is cheked.

Returns: total count of teammate existed in the region

◆ dirCount()

int rcsc::WorldModel::dirCount ( const AngleDeg & angle ) const

inline

get direction confidence count

Parameters

angle target direction

Returns: confidence count value

◆ dirRangeCount()

int rcsc::WorldModel::dirRangeCount	(	const AngleDeg &	angle,
		const double &	width,
		int *	max_count,
		int *	sum_count,
		int *	ave_count
	)		const

get max count, sum of count and average count of angle range

Parameters

angle	center of target angle range
width	angle range
max_count	pointer to variable of max accuracy count
sum_count	pointer to variable of sum of accuracy count
ave_count	pointer to variable of average accuracy count

Returns: steps in the range

◆ existOpponentIn()

template<typename REGION >

bool rcsc::WorldModel::existOpponentIn	(	const REGION &	region,
		const int	count_thr,
		const bool	with_goalie
	)		const

inline

template utility. check if opponent exist in the specified region.

Parameters

region	template parameter. region to be checked
count_thr	confdence count threshold for players
with_goalie	if true, goalie player is cheked.

Returns: true if some opponent exist

◆ existTeammateIn()

template<typename REGION >

bool rcsc::WorldModel::existTeammateIn	(	const REGION &	region,
		const int	count_thr,
		const bool	with_goalie
	)		const

inline

template utility. check if teammate exist in the specified region.

Parameters

region	template parameter. region to be checked
count_thr	confdence count threshold for players
with_goalie	if true, goalie player is cheked.

◆ fullstateTime()

const GameTime & rcsc::WorldModel::fullstateTime ( ) const

inline

get last time updated by fullstate

Returns: const reference to the game time object

◆ gameMode()

const GameMode & rcsc::WorldModel::gameMode ( ) const

inline

get current playmode info

Returns: const reference to the GameMode object

◆ getDistOpponentNearestTo()

double rcsc::WorldModel::getDistOpponentNearestTo	(	const Vector2D &	point,
		const int	count_thr
	)		const

inline

get the distance from input point to the nearest opponent

Parameters

count_thr	accuracy count threshold
with_goalie	include goalie if true

Returns: distance to the matched opponent. if not found, a big value is returned.

◆ getDistOpponentNearestToBall()

double rcsc::WorldModel::getDistOpponentNearestToBall	(	const int	count_thr,
		const bool	with_goalie = `true`
	)		const

inline

get the distance to opponent nearest to ball wtth accuracy count

Parameters

count_thr	accuracy count threshold
with_goalie	include goalie if true

Returns: distance to the matched opponent. if not found, a big value is returned.

◆ getDistOpponentNearestToSelf()

double rcsc::WorldModel::getDistOpponentNearestToSelf	(	const int	count_thr,
		const bool	with_goalie = `true`
	)		const

inline

get the distance from opponent nearest to self wtth accuracy count

Parameters

count_thr	accuracy count threshold
with_goalie	include goalie if true

Returns: distance to the matched opponent. if not found, a big value is returned.

◆ getDistTeammateNearestTo()

double rcsc::WorldModel::getDistTeammateNearestTo	(	const Vector2D &	point,
		const int	count_thr
	)		const

inline

get the distance from input point to the nearest teammate

Parameters

count_thr	accuracy count threshold
with_goalie	include goalie if true

Returns: distance to the matched opponent. if not found, a big value is returned.

◆ getDistTeammateNearestToBall()

double rcsc::WorldModel::getDistTeammateNearestToBall	(	const int	count_thr,
		const bool	with_goalie
	)		const

inline

get the distance to teammate nearest to ball wtth accuracy count

Parameters

count_thr	accuracy count threshold
with_goalie	include goalie if true

Returns: distance to the matched opponent. if not found, a big value is returned.

◆ getDistTeammateNearestToSelf()

double rcsc::WorldModel::getDistTeammateNearestToSelf	(	const int	count_thr,
		const bool	with_goalie = `true`
	)		const

inline

get the distance from teammate nearest to self wtth accuracy count

Parameters

count_thr	accuracy count threshold
with_goalie	include goalie if true

Returns: distance to the matched opponent. if not found, a big value is returned.

◆ getOpponentNearestTo() [1/2]

const PlayerObject * rcsc::WorldModel::getOpponentNearestTo	(	const PlayerObject *	p,
		const int	count_thr,
		double *	dist_to_point
	)		const

inline

get teammate pointer nearest to the specified player

Parameters

p	pointer to the player
count_thr	accuracy count threshold
dist_to_point	variable pointer to store the distance from retuned player to point

Returns: if found, pointer to player object, othewise NULL

◆ getOpponentNearestTo() [2/2]

const PlayerObject * rcsc::WorldModel::getOpponentNearestTo	(	const Vector2D &	point,
		const int	count_thr,
		double *	dist_to_point
	)		const

inline

get opponent pointer nearest to point

Parameters

point	considered point
count_thr	accuracy count threshold
dist_to_point	variable pointer to store the distance from retuned player to point

Returns: if found pointer to player object, othewise NULL

◆ getOpponentNearestToBall()

const PlayerObject * rcsc::WorldModel::getOpponentNearestToBall	(	const int	count_thr,
		const bool	with_goalie = `true`
	)		const

inline

get opponent nearest to ball with confidence count check

Parameters

count_thr	accuracy count threshold
with_goalie	include goalie if true

Returns: if found, const pointer to the PlayerOjbect. else NULL

◆ getOpponentNearestToSelf()

const PlayerObject * rcsc::WorldModel::getOpponentNearestToSelf	(	const int	count_thr,
		const bool	with_goalie = `true`
	)		const

inline

get opponent nearest to self with accuracy count check

Parameters

count_thr	accuracy count threshold
with_goalie	include goalie if true

Returns: if found, const pointer to the PlayerOjbect. else NULL

◆ getOurGoalie()

const AbstractPlayerObject * rcsc::WorldModel::getOurGoalie ( ) const

get a goalie teammate (include self)

Returns: if found pointer to goalie object, otherwise NULL

◆ getPlayers() [1/4]

void rcsc::WorldModel::getPlayers	(	AbstractPlayerObject::Cont &	result,
		const PlayerPredicate *	predicate
	)		const

get the new container of AbstractPlayer matched with the predicate.

Parameters

result	reference to the result variable
predicate	predicate object for the player condition matching. This have to be a dynamically allocated object.

◆ getPlayers() [2/4]

void rcsc::WorldModel::getPlayers	(	AbstractPlayerObject::Cont &	result,
		std::shared_ptr< const PlayerPredicate >	predicate
	)		const

get the new container of AbstractPlayer matched with the predicate.

Parameters

cont	reference to the result variable
predicate	predicate object for the player condition matching.

◆ getPlayers() [3/4]

AbstractPlayerObject::Cont rcsc::WorldModel::getPlayers ( const PlayerPredicate * predicate ) const

get the new container of AbstractPlayer matched with the predicate.

Parameters

predicate predicate object for the player condition matching. This have to be a dynamically allocated object.

Returns: container of AbstractPlayer pointer.

◆ getPlayers() [4/4]

AbstractPlayerObject::Cont rcsc::WorldModel::getPlayers ( std::shared_ptr< const PlayerPredicate > predicate ) const

get the new container of AbstractPlayer matched with the predicate.

Parameters

predicate predicate object for the player condition matching.

Returns: container of AbstractPlayer pointer.

◆ getPointCount()

int rcsc::WorldModel::getPointCount	(	const Vector2D &	point,
		const double &	dir_thr
	)		const

get the specific point accuracy count

Parameters

point	global cooridinate value of checked point
dir_thr	direction threshold for view area

Returns: accuracy count. if player has not seen the point, returnthe big value (e.g. 1000).

◆ getSetPlayCount()

int rcsc::WorldModel::getSetPlayCount ( ) const

inline

get cycle count that setplay type playmode is keeped

Returns: counted long integer

◆ getTeammateNearestTo() [1/2]

const PlayerObject * rcsc::WorldModel::getTeammateNearestTo	(	const PlayerObject *	p,
		const int	count_thr,
		double *	dist_to_point
	)		const

inline

get teammate pointer nearest to the specified player

Parameters

p	pointer to the player
count_thr	accuracy count threshold
dist_to_point	variable pointer to store the distance from retuned player to point

Returns: if found, pointer to player object, othewise NULL

◆ getTeammateNearestTo() [2/2]

const PlayerObject * rcsc::WorldModel::getTeammateNearestTo	(	const Vector2D &	point,
		const int	count_thr,
		double *	dist_to_point
	)		const

inline

get teammate pointer nearest to point

Parameters

point	considered point
count_thr	confidence count threshold
dist_to_point	variable pointer to store the distance from retuned player to point

Returns: if found, pointer to player object, othewise NULL

◆ getTeammateNearestToBall()

const PlayerObject * rcsc::WorldModel::getTeammateNearestToBall	(	const int	count_thr,
		const bool	with_goalie = `true`
	)		const

inline

get teammate nearest to with with confidence count check

Parameters

count_thr	accuracy count threshold
with_goalie	include goalie if true

Returns: if found, const pointer to the PlayerOjbect. else NULL

◆ getTeammateNearestToSelf()

const PlayerObject * rcsc::WorldModel::getTeammateNearestToSelf	(	const int	count_thr,
		const bool	with_goalie = `true`
	)		const

inline

get teammate nearest to self with confidence count check

Parameters

count_thr	accuracy count threshold
with_goalie	include goalie if true

Returns: if found, const pointer to the PlayerOjbect. else NULL

◆ getTheirGoalie()

const AbstractPlayerObject * rcsc::WorldModel::getTheirGoalie ( ) const

\get opponent goalie pointer

Returns: if found pointer to goalie object, otherwise NULL

◆ init()

bool rcsc::WorldModel::init	(	const std::string &	team_name,
		const SideID	our_side,
		const int	unum,
		const bool	goalie,
		const double	client_version
	)

initialize by team information

Parameters

team_name	our team name string
our_side	our side ID
unum	my uniform number
goalie	true if I am goalie
client_version	the client protocol version

Returns: true if successfully initialized, false otherwise

This method is called just after receive init reply

◆ interceptTable()

const InterceptTable & rcsc::WorldModel::interceptTable ( ) const

inline

get intercept table

Returns: const pointer to the intercept table instance

◆ isValid()

bool rcsc::WorldModel::isValid ( ) const

get this world mode is valid or not

Returns: true if this world model is valid

◆ kickableOpponent()

const PlayerObject * rcsc::WorldModel::kickableOpponent ( ) const

inline

get the estimated kickable opponent if exist.

Returns: player object pointer

◆ kickableTeammate()

const PlayerObject * rcsc::WorldModel::kickableTeammate ( ) const

inline

get the estimated kickable teammate if exist.

Returns: player object pointer

◆ lastKickerSide()

SideID rcsc::WorldModel::lastKickerSide ( ) const

inline

get the estimated last kicker's side

Returns: side id

◆ lastKickerUnum()

int rcsc::WorldModel::lastKickerUnum ( ) const

inline

get the estimated last kicker's uniform number

Returns: uniform number

◆ lastSetPlayStartTime()

const GameTime & rcsc::WorldModel::lastSetPlayStartTime ( ) const

inline

get last setplay type playmode start time

Returns: const reference to the game time object

◆ maybeKickableOpponent()

const PlayerObject * rcsc::WorldModel::maybeKickableOpponent ( ) const

inline

get the estimated kickable opponent (maybe kickable).

Returns: player object pointer

◆ maybeKickableTeammate()

const PlayerObject * rcsc::WorldModel::maybeKickableTeammate ( ) const

inline

get the estimated kickable teammate (maybe kickable).

Returns: player object pointer

◆ offsideLineCount()

int rcsc::WorldModel::offsideLineCount ( ) const

inline

get the accuracy count for the offside line

Returns: accuracy count

◆ offsideLineX()

double rcsc::WorldModel::offsideLineX ( ) const

inline

get estimated offside line x coordinate

Returns: offside line

◆ opponents()

const PlayerObject::Cont & rcsc::WorldModel::opponents ( ) const

inline

get opponents(include unknown players). the order is undefined

Returns: const reference to the PlayerObject container

◆ opponentsFromBall()

const PlayerObject::Cont & rcsc::WorldModel::opponentsFromBall ( ) const

inline

get opponents sorted by distance from ball (includes unknown players)

Returns: const reference to the PlayerObject pointer container

◆ opponentsFromSelf()

const PlayerObject::Cont & rcsc::WorldModel::opponentsFromSelf ( ) const

inline

get opponents sorted by distance from self (includes unknown players)

Returns: const reference to the PlayerObject pointer container

◆ ourCard()

Card rcsc::WorldModel::ourCard ( const int unum ) const

inline

get teammate's yellow card status

Parameters

unum	uniform number

Returns: yellow card status

◆ ourDefenseLineX()

double rcsc::WorldModel::ourDefenseLineX ( ) const

inline

get our defense line (consider ball pos)(offside line for opponent)

Returns: our defense line x

◆ ourDefensePlayerLineX()

double rcsc::WorldModel::ourDefensePlayerLineX ( ) const

inline

get our defense player line (not consder ball pos)

Returns: our defense player line x

◆ ourGoalieUnum()

int rcsc::WorldModel::ourGoalieUnum ( ) const

inline

get the uniform number of teammate goalie

Returns: uniform number value or Unum_Unknown

◆ ourOffenseLineX()

double rcsc::WorldModel::ourOffenseLineX ( ) const

inline

our offense line (consider ball pos)

Returns: our offense line x

◆ ourOffensePlayerLineX()

double rcsc::WorldModel::ourOffensePlayerLineX ( ) const

inline

get our offense player line (not consder ball pos)

Returns: our offense player line x

◆ ourPlayer()

const AbstractPlayerObject * rcsc::WorldModel::ourPlayer ( const int unum ) const

inline

get a teammate (or self) specified by uniform number

Parameters

unum	wanted player's uniform number

Returns: const pointer to the AbstractPlayerObject instance or NULL

◆ ourPlayers()

const AbstractPlayerObject::Cont & rcsc::WorldModel::ourPlayers ( ) const

inline

get all teammate players includes self.

Returns: const rerefence to the AbstractPlayerObject pointer container.

◆ ourPlayerType()

const PlayerType * rcsc::WorldModel::ourPlayerType ( const int unum ) const

get player type of the specified teammate

Parameters

unum	target teammate uniform number

Returns: const pointer to the player type object instance

◆ ourPlayerTypeId()

int rcsc::WorldModel::ourPlayerTypeId ( const int unum ) const

inline

get player type Id of teammate

Parameters

unum	target teammate uniform number

Returns: player type Id. if unum is illegal, Default Id is returned.

◆ ourRecovery()

double rcsc::WorldModel::ourRecovery ( const int unum ) const

inline

get (heard) recovery value of the specified player

Returns: recovery value

◆ ourSide()

SideID rcsc::WorldModel::ourSide ( ) const

inline

get our team side Id

Returns: side Id

◆ ourStaminaCapacity()

double rcsc::WorldModel::ourStaminaCapacity ( const int unum ) const

inline

get (heard) stamina capacity value of the specified player

Returns: recovery value

◆ penaltyKickState()

const PenaltyKickState * rcsc::WorldModel::penaltyKickState ( ) const

get penalty kick state

Returns: const pointer to the penalty kick state instance

◆ prevBall()

const BallObject & rcsc::WorldModel::prevBall ( ) const

inline

get the previous ball info

Returns: const reference to the BallObject

◆ prevOffsideLineX()

double rcsc::WorldModel::prevOffsideLineX ( ) const

inline

get estimated offside line x coordinate

Returns: offside line

◆ seeTime()

const GameTime & rcsc::WorldModel::seeTime ( ) const

inline

get last time updated by see

Returns: const reference to the game time object

◆ self()

const SelfObject & rcsc::WorldModel::self ( ) const

inline

get self info

Returns: const reference to the SelfObject

◆ senseBodyTime()

const GameTime & rcsc::WorldModel::senseBodyTime ( ) const

inline

get last time updated by sense_body

Returns: const reference to the game time object

◆ setAudioMemory()

void rcsc::WorldModel::setAudioMemory ( std::shared_ptr< AudioMemory > memory )

set new audio memory

Parameters

memory pointer to the memory instance. This must be a dynamically allocated object.

◆ setCard()

void rcsc::WorldModel::setCard	(	const SideID	side,
		const int	unum,
		const Card	card
	)

set yellow card information

Parameters

side	punished player's side
unum	punished player's unum
card	card type

◆ setLocalization()

void rcsc::WorldModel::setLocalization ( std::shared_ptr< Localization > localization )

set new localization method

Parameters

localization pointer to the localization instance.

◆ setOurGoalieUnum()

void rcsc::WorldModel::setOurGoalieUnum ( const int unum )

set our goalie's uniform number using strategic information or coach message.

Parameters

unum	uniform number

◆ setOurPlayerType()

void rcsc::WorldModel::setOurPlayerType	(	const int	unum,
		const int	id
	)

set teammate player type & reset card status

Parameters

unum	uniform number of changed teammate
id	player type ID

◆ setPenaltyKickTakerOrder()

void rcsc::WorldModel::setPenaltyKickTakerOrder ( const std::vector< int > & unum_set )

set current penalty kick taker.

Parameters

order	order number [0,10]
unum	kick taker's uniform number

◆ setTheirGoalieUnum()

void rcsc::WorldModel::setTheirGoalieUnum ( const int unum )

set their goalie's uniform number using coach message.

Parameters

unum	uniform number

◆ setTheirPlayerType()

void rcsc::WorldModel::setTheirPlayerType	(	const int	unum,
		const int	id
	)

set opponent player type & reset card status

Parameters

unum	uniform number of changed opponent
id	player type ID

◆ setTrainingTime()

void rcsc::WorldModel::setTrainingTime ( const GameTime & t )

inline

set training start/end time

Parameters

t game time

◆ setValid()

void rcsc::WorldModel::setValid ( bool is_valid )

set this world mode is valid or not

Parameters

is_valid value to be set

◆ setViewMode()

void rcsc::WorldModel::setViewMode	(	const ViewWidth &	w,
		const ViewQuality &	q
	)

inline

update self view move

Parameters

w	new view width
q	new view quality

◆ teammates()

const PlayerObject::Cont & rcsc::WorldModel::teammates ( ) const

inline

get teammates. the order is undefined.

Returns: const reference to the PlayerObject pointer container

◆ teammatesFromBall()

const PlayerObject::Cont & rcsc::WorldModel::teammatesFromBall ( ) const

inline

get teammates sorted by distance from ball

Returns: const reference to the PlayerObject pointer container

◆ teammatesFromSelf()

const PlayerObject::Cont & rcsc::WorldModel::teammatesFromSelf ( ) const

inline

get teammates sorted by distance from self

Returns: const reference to the PlayerObject pointer container

◆ teamName()

const std::string & rcsc::WorldModel::teamName ( ) const

inline

get our teamname

Returns: const reference to the team name string

◆ theirCard()

Card rcsc::WorldModel::theirCard ( const int unum ) const

inline

get opponent's yellow card status

Parameters

unum	uniform number

Returns: yellow card status

◆ theirDefenseLineX()

double rcsc::WorldModel::theirDefenseLineX ( ) const

inline

get their defense line x value (consider ball pos)

Returns: their offense line x

◆ theirDefensePlayerLineX()

double rcsc::WorldModel::theirDefensePlayerLineX ( ) const

inline

get estimated their offense line x value

Returns: their offense line x

◆ theirGoalieUnum()

int rcsc::WorldModel::theirGoalieUnum ( ) const

inline

get the uniform number of opponent goalie

Returns: uniform number value or Unum_Unknown

◆ theirOffenseLineX()

double rcsc::WorldModel::theirOffenseLineX ( ) const

inline

get their offense line (consider ball pos)

Returns: their offense line x

◆ theirOffensePlayerLineX()

double rcsc::WorldModel::theirOffensePlayerLineX ( ) const

inline

get their offense player line (not consder ball pos)

Returns: our defense player line x

◆ theirPlayer()

const AbstractPlayerObject * rcsc::WorldModel::theirPlayer ( const int unum ) const

inline

get an opponent specified by uniform number

Parameters

unum	wanted player's uniform number

Returns: const pointer to the AbstractPlayerObject instance or NULL

◆ theirPlayers()

const AbstractPlayerObject::Cont & rcsc::WorldModel::theirPlayers ( ) const

inline

get all opponent players (includes unknown players)

Returns: const rerefence to the AbstractPlayerObject pointer container.

◆ theirPlayerType()

const PlayerType * rcsc::WorldModel::theirPlayerType ( const int unum ) const

get player type of the specified opponent

Parameters

unum	target opponent uniform number

Returns: const pointer to the player type object instance

◆ theirPlayerTypeId()

int rcsc::WorldModel::theirPlayerTypeId ( const int unum ) const

inline

get player type Id of opponent

Parameters

unum	target teammate uniform number

Returns: player type Id. if unum is illegal, Unknown is returned.

◆ theirSide()

SideID rcsc::WorldModel::theirSide ( ) const

inline

get opponent team side Id

Returns: side Id

◆ theirTeamName()

const std::string & rcsc::WorldModel::theirTeamName ( ) const

inline

get their teamname

Returns: const reference to the team name string

◆ time()

const GameTime & rcsc::WorldModel::time ( ) const

inline

get last updated time (== current game time)

Returns: const reference to the game time object

◆ trainingTime()

const GameTime & rcsc::WorldModel::trainingTime ( ) const

inline

get training start/end time

Returns: game time object

◆ updateAfterFullstate()

void rcsc::WorldModel::updateAfterFullstate	(	const FullstateSensor &	fullstate,
		const ActionEffector &	act,
		const GameTime &	current
	)

update by fullstate info

Parameters

fullstate	analyzed fullstate info
act	action effector
current	current game time

This method is called just after fullstate message receive

◆ updateAfterSee()

void rcsc::WorldModel::updateAfterSee	(	const VisualSensor &	see,
		const BodySensor &	sense_body,
		const ActionEffector &	act,
		const GameTime &	current
	)

update by see info

Parameters

see	analyzed see info
sense_body	analyzed sense_body info
act	action effector
current	current game time

This method is called just after see message receive

◆ updateAfterSenseBody()

void rcsc::WorldModel::updateAfterSenseBody	(	const BodySensor &	sense_body,
		const ActionEffector &	act,
		const GameTime &	current
	)

update by sense_body.

Parameters

sense_body	analyzed sense_body info
act	action effector
current	current game time

This method is called just after sense_body message receive

◆ updateGameMode()

void rcsc::WorldModel::updateGameMode	(	const GameMode &	game_mode,
		const GameTime &	current
	)

update current playmode

Parameters

game_mode	playmode info
current	current game time

This method is called after heared referee message

◆ updateJustAfterDecision()

void rcsc::WorldModel::updateJustAfterDecision ( const ActionEffector & act )

update using internal by command effects. This method is called just before command sending.

Parameters

act	ActionEffector object.

◆ updateJustBeforeDecision()

void rcsc::WorldModel::updateJustBeforeDecision	(	const ActionEffector &	act,
		const GameTime &	current
	)

internal update for action decision

Parameters

act	action effector
current	current game time

This method is called just before action decision to update and adjust world model.

◆ updatePlayer()

void rcsc::WorldModel::updatePlayer	(	const PlayerObject *	player,
		const SideID	side,
		const int	unum,
		const bool	goalie
	)

set player's side/unum/goalie information

Parameters

player	player object pointer
unum	new uniform number
goalie	goalie flag

◆ viewAreaCont()

const ViewAreaCont & rcsc::WorldModel::viewAreaCont ( ) const

inline

get view area history container

Returns: const refrence to the view area container.

◆ viewGridMap()

const ViewGridMap & rcsc::WorldModel::viewGridMap ( ) const

inline

get field grid map that holds observation accuracy count

Returns: const reference to the ViewGridMap instance

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

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

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

Member Function Documentation

◆ allPlayers()

◆ audioMemory()

◆ ball()

◆ clientVersion()

◆ countOpponentsIn()

◆ countPlayer() [1/2]

◆ countPlayer() [2/2]

◆ countTeammatesIn()

◆ dirCount()

◆ dirRangeCount()

◆ existOpponentIn()

◆ existTeammateIn()

◆ fullstateTime()

◆ gameMode()

◆ getDistOpponentNearestTo()

◆ getDistOpponentNearestToBall()

◆ getDistOpponentNearestToSelf()

◆ getDistTeammateNearestTo()

◆ getDistTeammateNearestToBall()

◆ getDistTeammateNearestToSelf()

◆ getOpponentNearestTo() [1/2]

◆ getOpponentNearestTo() [2/2]

◆ getOpponentNearestToBall()

◆ getOpponentNearestToSelf()

◆ getOurGoalie()

◆ getPlayers() [1/4]

◆ getPlayers() [2/4]

◆ getPlayers() [3/4]

◆ getPlayers() [4/4]

◆ getPointCount()

◆ getSetPlayCount()

◆ getTeammateNearestTo() [1/2]

◆ getTeammateNearestTo() [2/2]

◆ getTeammateNearestToBall()

◆ getTeammateNearestToSelf()

◆ getTheirGoalie()

◆ init()

◆ interceptTable()

◆ isValid()

◆ kickableOpponent()

◆ kickableTeammate()

◆ lastKickerSide()

◆ lastKickerUnum()

◆ lastSetPlayStartTime()

◆ maybeKickableOpponent()

◆ maybeKickableTeammate()

◆ offsideLineCount()

◆ offsideLineX()

◆ opponents()

◆ opponentsFromBall()

◆ opponentsFromSelf()

◆ ourCard()

◆ ourDefenseLineX()

◆ ourDefensePlayerLineX()

◆ ourGoalieUnum()

◆ ourOffenseLineX()

◆ ourOffensePlayerLineX()

◆ ourPlayer()

◆ ourPlayers()

◆ ourPlayerType()

◆ ourPlayerTypeId()

◆ ourRecovery()

◆ ourSide()

◆ ourStaminaCapacity()

◆ penaltyKickState()

◆ prevBall()

◆ prevOffsideLineX()

◆ seeTime()

◆ self()

◆ senseBodyTime()

◆ setAudioMemory()

◆ setCard()

◆ setLocalization()

◆ setOurGoalieUnum()

◆ setOurPlayerType()