observed player object class More...

#include <player_object.h>

Inheritance diagram for rcsc::PlayerObject:

Collaboration diagram for rcsc::PlayerObject:

[legend]

Public Types
typedef std::list< PlayerObject >	List
	type of the player object instance container

typedef std::vector< const PlayerObject * >	Cont
	type of the player object pointer container

Public Types inherited from rcsc::AbstractPlayerObject
typedef std::vector< const AbstractPlayerObject * >	Cont
	type of pointer container

Public Member Functions
	PlayerObject ()
	initialize member variables.

	PlayerObject (const SideID side, const Localization::PlayerT &p)
	initialize member variables using observed info More...

	~PlayerObject ()
	destructor. nothing to do

bool	isGhost () const
	check if this player is ghost object or not More...

int	ghostCount () const
	get the count of ghost check More...

int	tackleCount () const
	get tackling status accuracy More...

bool	isTackling () const
	check if player is tackling More...

bool	posValid () const
	velify global position accuracy More...

bool	velValid () const
	verify velocity accuracy More...

bool	bodyValid () const
	verify angle accuracy More...

bool	faceValid () const
	verify angle accuracy More...

const std::list< Vector2D > &	posHistory () const
	get the history of estimated position. More...

bool	isKickable (const double &buf=0.05) const
	check if player can kick the ball or not More...

void	update ()
	update status only with intenal info

void	setGhost ()
	increment ghost count

void	setTeam (const SideID side, const int unum, const bool goalie)
	set player's team info More...

void	updateBySee (const SideID side, const Localization::PlayerT &p)
	update status using localized player info More...

void	updateByFullstate (const FullstateSensor::PlayerT &p, const Vector2D &self_pos, const Vector2D &ball_pos)
	update status using fullstate info More...

void	updateByHear (const SideID heard_side, const int heard_unum, const bool goalie, const Vector2D &heard_pos)
	update staus using heard info More...

void	updateByHear (const SideID heard_side, const int heard_unum, const bool goalie, const Vector2D &heard_pos, const double &heard_body)
	update staus using heard info More...

void	updateSelfBallRelated (const Vector2D &self, const Vector2D &ball)
	update status related to other objects More...

void	setCollisionEffect ()
	set collision effect to player's velocity

void	forget ()
	reset accuracy info

Public Member Functions inherited from rcsc::AbstractPlayerObject
	AbstractPlayerObject (const int id)
	initialize member variables.

	AbstractPlayerObject (const int id, const SideID side, const Localization::PlayerT &p)
	initialize member variables using observed info More...

virtual	~AbstractPlayerObject ()=default
	destructor. nothing to do

virtual bool	isSelf () const
	check if this player is self or not More...

virtual bool	isGhost () const
	check if this player is ghost object or not More...

virtual int	ghostCount () const
	get the counter value as a ghost recognition More...

virtual bool	isTackling () const =0
	check if player is tackling or not More...

virtual void	setPlayerType (const int type)
	update player type id More...

void	setCard (const Card card)
	update card state More...

void	setBallReachStep (const int step)
	set the estimated minimum ball interception step. More...

int	id () const
	get the ID number for this object More...

SideID	side () const
	get team side id More...

int	unum () const
	get player's uniform number More...

int	unumCount () const
	get uniform number accuracy count More...

bool	goalie () const
	get goalie flag More...

const PlayerType *	playerTypePtr () const
	get the player type as a pointer. More...

Card	card () const
	get card type More...

const Vector2D &	pos () const
	get global position More...

int	posCount () const
	get global position accuracy More...

const Vector2D &	seenPos () const
	get the last seen position More...

int	seenPosCount () const
	get the number of cycles since last observation More...

const Vector2D &	heardPos () const
	get the last heard position More...

int	heardPosCount () const
	get the number of cycles since last observation More...

const Vector2D &	vel () const
	get velocity More...

int	velCount () const
	get velocity accuracy More...

const Vector2D &	seenVel () const
	get the last seen velocity More...

int	seenVelCount () const
	get the number of cycles since last observation More...

const AngleDeg &	body () const
	get global body angle More...

int	bodyCount () const
	get global body angle accuracy More...

const AngleDeg &	face () const
	get global neck angle More...

int	faceCount () const
	get global neck angle accuracy More...

const AngleDeg &	pointtoAngle () const
	get global pointing angle More...

int	pointtoCount () const
	get global pointing angle accuracy More...

bool	isKicking () const
	get kicking state information More...

double	dist2 (const AbstractPlayerObject &p) const
	get the squared distance from this player to the target player More...

double	dist (const AbstractPlayerObject &p) const
	get the distance from this player to the target player More...

double	distFromBall () const
	get distance from ball More...

const AngleDeg &	angleFromBall () const
	get angle from ball More...

double	distFromSelf () const
	get distance from self More...

const AngleDeg &	angleFromSelf () const
	get global angle from self position More...

int	ballReachStep () const
	get the estimated minimum ball interception step. More...

virtual double	kickRate () const
	get current estimated kick power rate More...

Vector2D	inertiaPoint (const int n_step) const
	estimate reach point More...

Vector2D	inertiaFinalPoint () const
	estimate final reach point More...

Static Public Member Functions
static void	set_count_thr (const int pos_thr, const int vel_thr, const int face_thr)
	set accuracy count threshold values. More...

static void	reset_player_count ()
	reset player count to 0.

Static Public Member Functions inherited from rcsc::AbstractPlayerObject
static double	get_minimum_evaluation (const Cont &cont, const PlayerEvaluator *evaluator)
	get minimum evaluation value within the input container using evaluator More...

static double	get_maximum_evaluation (const Cont &cont, const PlayerEvaluator *evaluator)
	get maximum evaluation value within the input container using evaluator More...

Additional Inherited Members
Protected Attributes inherited from rcsc::AbstractPlayerObject
int	M_id
	identical number as object ID

SideID	M_side
	team side

int	M_unum
	uniform number

int	M_unum_count
	accuracy count

bool	M_goalie
	goalie flag

const PlayerType *	M_player_type
	player type reference

Card	M_card
	card information

Vector2D	M_pos
	global coordinate

int	M_pos_count
	main accuracy counter

Vector2D	M_seen_pos
	last seen global coordinate

int	M_seen_pos_count
	count since last observation

Vector2D	M_heard_pos
	last heard global coordinate

int	M_heard_pos_count
	count since last observation

Vector2D	M_vel
	velocity

int	M_vel_count
	accuracy count

Vector2D	M_seen_vel
	last seen velocity

int	M_seen_vel_count
	count since last observation

AngleDeg	M_body
	global body angle

int	M_body_count
	body angle accuracy

AngleDeg	M_face
	global neck angle

int	M_face_count
	face angle accuracy

AngleDeg	M_pointto_angle
	global pointing angle

int	M_pointto_count
	time count since the last pointto observation

bool	M_kicking
	kicking state

double	M_dist_from_ball
	distance from ball

AngleDeg	M_angle_from_ball
	angle from ball

double	M_dist_from_self
	distance from self

AngleDeg	M_angle_from_self
	angle from self

Detailed Description

observed player object class

Constructor & Destructor Documentation

◆ PlayerObject()

rcsc::PlayerObject::PlayerObject	(	const SideID	side,
		const Localization::PlayerT &	p
	)

initialize member variables using observed info

Parameters

side	analyzed side info
p	analyzed seen player info

Member Function Documentation

◆ bodyValid()

bool rcsc::PlayerObject::bodyValid ( ) const

inline

verify angle accuracy

Returns: true if angle has enoubh accuracy

◆ faceValid()

bool rcsc::PlayerObject::faceValid ( ) const

inline

verify angle accuracy

Returns: true if angle has enoubh accuracy

◆ ghostCount()

int rcsc::PlayerObject::ghostCount ( ) const

inlinevirtual

get the count of ghost check

Returns: count of ghost check

Reimplemented from rcsc::AbstractPlayerObject.

◆ isGhost()

bool rcsc::PlayerObject::isGhost ( ) const

inlinevirtual

check if this player is ghost object or not

Returns: true if this player may be ghost object

Reimplemented from rcsc::AbstractPlayerObject.

◆ isKickable()

bool rcsc::PlayerObject::isKickable ( const double & buf = 0.05 ) const

check if player can kick the ball or not

buf kickable area buffer

Returns: true if player can kick the ball

◆ isTackling()

bool rcsc::PlayerObject::isTackling ( ) const

virtual

check if player is tackling

Returns: true if tackle accuracy is less than tackle cycles in ServerParam

Implements rcsc::AbstractPlayerObject.

◆ posHistory()

const std::list< Vector2D > & rcsc::PlayerObject::posHistory ( ) const

inline

get the history of estimated position.

Returns: position list. the front element is the position at the previous cycle.

◆ posValid()

bool rcsc::PlayerObject::posValid ( ) const

inline

velify global position accuracy

Returns: true if position has enough accuracy

◆ set_count_thr()

static void rcsc::PlayerObject::set_count_thr	(	const int	pos_thr,
		const int	vel_thr,
		const int	face_thr
	)

static

set accuracy count threshold values.

Parameters

pos_thr	threshold value for M_pos
vel_thr	threshold value for M_vel
face_thr	threshold value for M_body and M_face

◆ setTeam()

void rcsc::PlayerObject::setTeam	(	const SideID	side,
		const int	unum,
		const bool	goalie
	)

inline

set player's team info

Parameters

side	player's team side
unum	player's uniform number
goalie	goalie flag

◆ tackleCount()

int rcsc::PlayerObject::tackleCount ( ) const

inline

get tackling status accuracy

Returns: count from last observation

◆ updateByFullstate()

void rcsc::PlayerObject::updateByFullstate	(	const FullstateSensor::PlayerT &	p,
		const Vector2D &	self_pos,
		const Vector2D &	ball_pos
	)

update status using fullstate info

Parameters

p	fullstate player info
self_pos	global self position
ball_pos	global ball position

◆ updateByHear() [1/2]

void rcsc::PlayerObject::updateByHear	(	const SideID	heard_side,
		const int	heard_unum,
		const bool	goalie,
		const Vector2D &	heard_pos
	)

update staus using heard info

Parameters

heard_side	heard side info
heard_unum	heard uniform number
goalie	update goalie info, only if this value is true.
heard_pos	heard global position

◆ updateByHear() [2/2]

void rcsc::PlayerObject::updateByHear	(	const SideID	heard_side,
		const int	heard_unum,
		const bool	goalie,
		const Vector2D &	heard_pos,
		const double &	heard_body
	)

update staus using heard info

Parameters

heard_side	heard side info
heard_unum	heard uniform number
goalie	update goalie info, only if this value is true.
heard_pos	heard global position
heard_body	heard body angle

◆ updateBySee()

void rcsc::PlayerObject::updateBySee	(	const SideID	side,
		const Localization::PlayerT &	p
	)

update status using localized player info

Parameters

side	analyzed side info
p	localized player info

◆ updateSelfBallRelated()

void rcsc::PlayerObject::updateSelfBallRelated	(	const Vector2D &	self,
		const Vector2D &	ball
	)

update status related to other objects

Parameters

self	self position
ball	ball position

This method is called just before decide action

◆ velValid()

bool rcsc::PlayerObject::velValid ( ) const

inline

verify velocity accuracy

Returns: true if accuracy has enough accuracy

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

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

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PlayerObject()

Member Function Documentation

◆ bodyValid()

◆ faceValid()

◆ ghostCount()

◆ isGhost()

◆ isKickable()

◆ isTackling()

◆ posHistory()

◆ posValid()

◆ set_count_thr()

◆ setTeam()

◆ tackleCount()

◆ updateByFullstate()

◆ updateByHear() [1/2]

◆ updateByHear() [2/2]

◆ updateBySee()

◆ updateSelfBallRelated()

◆ velValid()