coach_intercept_predictor.h

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// -*-c++-*-
 
/*
 *Copyright:
 
 Copyright (C) Hidehisa AKIYAMA
 
 This code is free software; you can redistribute it and/or
 modify it under the terms of the GNU Lesser General Public
 License as published by the Free Software Foundation; either
 version 3 of the License, or (at your option) any later version.
 
 This library is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 Lesser General Public License for more details.
 
 You should have received a copy of the GNU Lesser General Public
 License along with this library; if not, write to the Free Software
 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 
 *EndCopyright:
 */
 
 
#ifndef RCSC_COACH_PLAYER_INTERCEPT_H
#define RCSC_COACH_PLAYER_INTERCEPT_H
 
#include <vector>
 
namespace rcsc {
 
class CoachBallObject;
class CoachPlayerObject;
class PlayerType;
class Vector2D;
 
class CoachInterceptPredictor {
private:
 
    std::vector< Vector2D > M_ball_cache;
 
    // not used
    CoachInterceptPredictor() = delete;
    CoachInterceptPredictor( const CoachInterceptPredictor & ) = delete;
    CoachInterceptPredictor & operator=( const CoachInterceptPredictor & ) = delete;
 
public:
 
    explicit
    CoachInterceptPredictor( const CoachBallObject & ball );
 
    int predict( const CoachPlayerObject & player ) const;
 
private:
 
    int predictReachStep( const CoachPlayerObject & player,
                          const bool goalie ) const;
    int predictMinStep( const CoachPlayerObject & player,
                        const PlayerType & ptype,
                        const double control_area ) const;
 
    bool canReachAfterTurnDash( const int total_step,
                                const int penalty_step,
                                const CoachPlayerObject & player,
                                const PlayerType & ptype,
                                const double control_area,
                                const Vector2D & ball_pos ) const;
 
    int predictTurnCycle( const int total_step,
                          const int penalty_step,
                          const CoachPlayerObject & player,
                          const PlayerType & ptype,
                          const double control_area,
                          const Vector2D & ball_pos ) const;
 
 
    bool canReachAfterDash( const int penalty_step,
                            const int n_turn,
                            const int n_dash,
                            const CoachPlayerObject & player,
                            const PlayerType & ptype,
                            const double control_area,
                            const Vector2D & ball_pos ) const;
 
    int predictFinal( const int penalty_step,
                      const CoachPlayerObject & player,
                      const PlayerType & ptype,
                      const double control_area ) const;
 
};
 
}
 
#endif