basic player agent class More...

#include <player_agent.h>

Inheritance diagram for rcsc::PlayerAgent:

Collaboration diagram for rcsc::PlayerAgent:

[legend]

Public Member Functions
	PlayerAgent ()
	create internal modules

virtual	~PlayerAgent ()
	virtual destructor

virtual std::shared_ptr< AbstractClient >	createConsoleClient ()
	create a client object (online or offline) according to the command line option. More...

void	finalize ()
	finalize all things when the process exits

const PlayerConfig &	config () const
	get configuration set More...

DebugClient &	debugClient ()
	get debug client interface More...

const WorldModel &	world () const
	get worldmodel More...

const WorldModel &	fullstateWorld () const
	get fullstate worldmodel More...

const ActionEffector &	effector () const
	get action effector More...

const BodySensor &	bodySensor () const
	get body sensor More...

const VisualSensor &	visualSensor () const
	get visual sensor More...

const AudioSensor &	audioSensor () const
	get audio sensor More...

const FullstateSensor &	fullstateSensor () const
	get fullstate sensor More...

const SeeState &	seeState () const
	get see state More...

const TimeStamp &	bodyTimeStamp () const
	get time stamp when sense_body message is received More...

const TimeStamp &	seeTimeStamp () const
	get time stamp of see message when see message is received More...

bool	doKick (const double &power, const AngleDeg &rel_dir)
	register kick command More...

bool	doDash (const double &power, const AngleDeg &rel_dir=0.0)
	register dash command More...

bool	doTurn (const AngleDeg &moment)
	register turn command More...

bool	doCatch ()
	register catch command. catch direction is automatically calculated. More...

bool	doMove (const double &x, const double &y)
	register move command More...

bool	doTackle (const double &power_or_dir, const bool foul=false)
	register tackle command More...

bool	doTurnNeck (const AngleDeg &moment)
	register turn_neck command. More...

bool	doChangeView (const ViewWidth &width)
	register change_view command. More...

bool	doChangeFocus (const double moment_dist, const AngleDeg &moment_dir)
	register change_focus command More...

bool	doPointto (const double &x, const double &y)
	register pointto command. More...

bool	doPointtoOff ()
	register pointto command. turn off mode More...

bool	doAttentionto (SideID side, const int unum)
	register attentionto command by off mode More...

bool	doAttentiontoOff ()
	register attentionto command. turn off mode More...

void	setArmAction (ArmAction *act)
	reserve pointto action More...

void	setNeckAction (NeckAction *act)
	reserve turn neck action More...

void	setViewAction (ViewAction *act)
	reserve change view action More...

void	setFocusAction (FocusAction *act)
	reserve change_focus action More...

void	addSayMessage (SayMessage *message)
	add say message to the action effector More...

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

void	clearSayMessage ()
	remove all registered say messages

void	setIntention (SoccerIntention *intention)
	set intention object More...

bool	doIntention ()
	execute queued intention if exist. More...

Public Member Functions inherited from rcsc::SoccerAgent
	SoccerAgent ()
	nothing to do. just set NULL to M_client

virtual	~SoccerAgent ()
	virtual destructor.

bool	init (CmdLineParser &cmd_parser)
	initialize with command line options. More...

void	setClient (std::shared_ptr< AbstractClient > client)

virtual std::shared_ptr< AbstractClient >	createConsoleClient ()=0
	create standard console client object (online or offline) according to the command line option. More...

Protected Member Functions
virtual bool	initImpl (CmdLineParser &cmd_parser)
	analyze command line options More...

virtual bool	handleStart ()
	handle start event More...

virtual bool	handleStartOffline ()
	handle start event in offline client mode. More...

virtual void	handleMessage ()
	handle server message event More...

virtual void	handleMessageOffline ()
	handle offline client log message in offline client mode. More...

virtual void	handleTimeout (const int timeout_count, const int waited_msec)
	handle timeout event More...

virtual void	handleExit ()
	handle exit event More...

virtual void	actionImpl ()=0
	pure virtual method. register body action to ActionEffector. More...

virtual void	communicationImpl ()
	virtual method. register say action to ActionEffector More...

virtual void	handleActionStart ()
	This method is called at the top of action(). Do not call this method by yourself.

virtual void	handleActionEnd ()
	This method is called at the end of action() but before the debug output. Do not call this method by yourself.

virtual void	handleInitMessage ()
	this method is called just after analyzing init message. Do not call this method by yourself.

virtual void	handleServerParam ()
	this method is called just after analyzing server_param message. Do not call this method by yourself.

virtual void	handlePlayerParam ()
	this method is called just after analyzing player_param message. Do not call this method by yourself.

virtual void	handlePlayerType ()
	this method is called just after analyzing player_type message. Do not call this method by yourself.

virtual void	handleOnlineCoachAudio ()
	this method is called just after analyzing online coach's say message. Do not call this method by yourself.

void	addSayMessageParser (SayMessageParser *parser)
	register new say message parser object More...

void	removeSayMessageParser (const char header)
	remove registered parser object More...

void	addFreeformMessageParser (FreeformMessageParser *parser)
	set new freeform message parser More...

void	removeFreeformMessageParser (const std::string &type)
	remove registered parser object More...

virtual bool	initImpl (CmdLineParser &cmd_parser)=0
	init interval status using command line options More...

virtual bool	handleStart ()=0
	(pure virtual) handle start event More...

virtual bool	handleStartOffline ()
	(virtual) handle start event in offline client mode. More...

virtual void	handleMessage ()=0
	(pure virtual) handle server messege More...

virtual void	handleMessageOffline ()
	(virtual) handle offline client log message in offline client mode. More...

virtual void	handleTimeout (const int timeout_count, const int waited_msec)=0
	(pure virtual) handle timeout event More...

virtual void	handleExit ()=0
	(pure virtual) handle exit event More...

Protected Attributes
PlayerConfig	M_config
	configuration parameter set

DebugClient	M_debug_client
	debug client interface

WorldModel	M_worldmodel
	mental memory of world status

WorldModel	M_fullstate_worldmodel
	mental memory of fullstate world status

ActionEffector	M_effector
	action info manager

Protected Attributes inherited from rcsc::SoccerAgent
std::shared_ptr< AbstractClient >	M_client
	interface to the rcssserver or offline log.

Detailed Description

basic player agent class

Member Function Documentation

◆ actionImpl()

virtual void rcsc::PlayerAgent::actionImpl ( )

protectedpure virtual

pure virtual method. register body action to ActionEffector.

This method is used to set player's body action. Do not call this method by yourself because this method is called automatically.

◆ addFreeformMessageParser()

void rcsc::PlayerAgent::addFreeformMessageParser ( FreeformMessageParser * parser )

protected

set new freeform message parser

Parameters

parser pointer to the dynamically allocated parser object.

◆ addSayMessage()

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

add say message to the action effector

Parameters

message pointer to the dynamically allocated object.

◆ addSayMessageParser()

void rcsc::PlayerAgent::addSayMessageParser ( SayMessageParser * parser )

protected

register new say message parser object

Parameters

parser pointer to the dynamically allocated parser object.

◆ audioSensor()

const AudioSensor & rcsc::PlayerAgent::audioSensor ( ) const

get audio sensor

Returns: const reference to the audio sensor instance

◆ bodySensor()

const BodySensor & rcsc::PlayerAgent::bodySensor ( ) const

get body sensor

Returns: const reference to the body sensor instance

◆ bodyTimeStamp()

const TimeStamp & rcsc::PlayerAgent::bodyTimeStamp ( ) const

get time stamp when sense_body message is received

Returns: const reference to the time stamp object

◆ communicationImpl()

virtual void rcsc::PlayerAgent::communicationImpl ( )

inlineprotectedvirtual

virtual method. register say action to ActionEffector

This method is called just after turn_neck action. Do not call this method by yourself because this method is called automatically.

◆ config()

const PlayerConfig & rcsc::PlayerAgent::config ( ) const

inline

get configuration set

Returns: const reference to the configuration class object

◆ createConsoleClient()

virtual std::shared_ptr< AbstractClient > rcsc::PlayerAgent::createConsoleClient ( )

virtual

create a client object (online or offline) according to the command line option.

Returns: client object pointer.

Implements rcsc::SoccerAgent.

◆ debugClient()

DebugClient & rcsc::PlayerAgent::debugClient ( )

inline

get debug client interface

Returns: reference to the DebugClient object

◆ doAttentionto()

bool rcsc::PlayerAgent::doAttentionto	(	SideID	side,
		const int	unum
	)

register attentionto command by off mode

Parameters

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

Returns: true if successfully registered.

◆ doAttentiontoOff()

bool rcsc::PlayerAgent::doAttentiontoOff ( )

register attentionto command. turn off mode

Returns: true if successfully registered.

◆ doCatch()

bool rcsc::PlayerAgent::doCatch ( )

register catch command. catch direction is automatically calculated.

Returns: true if successfully registered.

◆ doChangeFocus()

bool rcsc::PlayerAgent::doChangeFocus	(	const double	moment_dist,
		const AngleDeg &	moment_dir
	)

register change_focus command

Parameters

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

◆ doChangeView()

bool rcsc::PlayerAgent::doChangeView ( const ViewWidth & width )

register change_view command.

Parameters

width new view width

Returns: true if successfully registered.

ViewQuality should not be changed by user

◆ doDash()

bool rcsc::PlayerAgent::doDash	(	const double &	power,
		const AngleDeg &	rel_dir = `0.0`
	)

register dash command

Parameters

power	command argument: dash power
rel_dir	command argument: dash direction relative to body (or reverse body) angle

Returns: true if successfully registered.

◆ doIntention()

bool rcsc::PlayerAgent::doIntention ( )

execute queued intention if exist.

Return values

true	if action is executed
false	if queue is empty, or action is failed.

◆ doKick()

bool rcsc::PlayerAgent::doKick	(	const double &	power,
		const AngleDeg &	rel_dir
	)

register kick command

Parameters

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

Returns: true if successfully registered.

◆ doMove()

bool rcsc::PlayerAgent::doMove	(	const double &	x,
		const double &	y
	)

register move command

Parameters

x	move target x
y	move target y

Returns: true if successfully registered.

◆ doPointto()

bool rcsc::PlayerAgent::doPointto	(	const double &	x,
		const double &	y
	)

register pointto command.

Parameters

x	target point x
y	target point y

Returns: true if successfully registered.

◆ doPointtoOff()

bool rcsc::PlayerAgent::doPointtoOff ( )

register pointto command. turn off mode

Returns: true if successfully registered.

◆ doTackle()

bool rcsc::PlayerAgent::doTackle	(	const double &	power_or_dir,
		const bool	foul = `false`
	)

register tackle command

Parameters

power_or_dir	tackle power or direction
foul	foul mode switch

Returns: true if successfully registered.

◆ doTurn()

bool rcsc::PlayerAgent::doTurn ( const AngleDeg & moment )

register turn command

Parameters

moment command argument: turn moment

Returns: true if successfully registered.

◆ doTurnNeck()

bool rcsc::PlayerAgent::doTurnNeck ( const AngleDeg & moment )

register turn_neck command.

Parameters

moment turn neck moment

Returns: true if successfully registered.

◆ effector()

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

inline

get action effector

Returns: reference to action effector

◆ fullstateSensor()

const FullstateSensor & rcsc::PlayerAgent::fullstateSensor ( ) const

get fullstate sensor

Returns: const reference to the fullstate sensor instance

◆ fullstateWorld()

const WorldModel & rcsc::PlayerAgent::fullstateWorld ( ) const

inline

get fullstate worldmodel

Returns: const reference to fullstate world model instance

◆ handleExit()

virtual void rcsc::PlayerAgent::handleExit ( )

protectedvirtual

handle exit event

Implements rcsc::SoccerAgent.

◆ handleMessage()

virtual void rcsc::PlayerAgent::handleMessage ( )

protectedvirtual

handle server message event

This method is called from AbstractClient::run() method. Do NOT call this method by yourself!

Implements rcsc::SoccerAgent.

◆ handleMessageOffline()

virtual void rcsc::PlayerAgent::handleMessageOffline ( )

protectedvirtual

handle offline client log message in offline client mode.

This method is called when offline client log message is read.

Reimplemented from rcsc::SoccerAgent.

◆ handleStart()

virtual bool rcsc::PlayerAgent::handleStart ( )

protectedvirtual

handle start event

Returns: status of start procedure.

This method is called when client starts to run. The concrete agent must connect to the server and send init command. Do NOT call this method by yourself!

Implements rcsc::SoccerAgent.

◆ handleStartOffline()

virtual bool rcsc::PlayerAgent::handleStartOffline ( )

protectedvirtual

handle start event in offline client mode.

Returns: status of start procedure.

This method is called at the top of AbstractClient::run() method. The concrete agent must connect to the server and send init command. Do NOT call this method by yourself!

Reimplemented from rcsc::SoccerAgent.

◆ handleTimeout()

virtual void rcsc::PlayerAgent::handleTimeout	(	const int	timeout_count,
		const int	waited_msec
	)

protectedvirtual

handle timeout event

Parameters

timeout_count	count of timeout without sensory message.
waited_msec	elapsed milliseconds since last sensory message. This method is called from AbstractClient::run() method. Do NOT call this method by yourself!

Implements rcsc::SoccerAgent.

◆ initImpl()

virtual bool rcsc::PlayerAgent::initImpl ( CmdLineParser & cmd_parser )

protectedvirtual

analyze command line options

Parameters

cmd_parser command line parser object

Returns: false only if "help" option is given, othewise true.

This method is called from SoccerAgent::init( argc, argv ) SoccerAgent::init(argc,argv) should be called in main().

Implements rcsc::SoccerAgent.

◆ removeFreeformMessageParser()

void rcsc::PlayerAgent::removeFreeformMessageParser ( const std::string & type )

protected

remove registered parser object

Parameters

type	freeform message type string

◆ removeSayMessage()

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

remove the registered say message if exist

Parameters

header message header character

Returns: true if removed

◆ removeSayMessageParser()

void rcsc::PlayerAgent::removeSayMessageParser ( const char header )

protected

remove registered parser object

Parameters

header say message header character

◆ seeState()

const SeeState & rcsc::PlayerAgent::seeState ( ) const

get see state

Returns: const reference to the see state instance

◆ seeTimeStamp()

const TimeStamp & rcsc::PlayerAgent::seeTimeStamp ( ) const

get time stamp of see message when see message is received

Returns: const reference to the time stamp object

◆ setArmAction()

void rcsc::PlayerAgent::setArmAction ( ArmAction * act )

reserve pointto action

Parameters

act	pointer to the action. must be a dynamically allocated object.

◆ setFocusAction()

void rcsc::PlayerAgent::setFocusAction ( FocusAction * act )

reserve change_focus action

Parameters

act	pointer to the action. must be a dynamically allocated object.

◆ setIntention()

void rcsc::PlayerAgent::setIntention ( SoccerIntention * intention )

set intention object

Parameters

intention pointer to the dynamically allocated object.

◆ setNeckAction()

void rcsc::PlayerAgent::setNeckAction ( NeckAction * act )

reserve turn neck action

Parameters

act	pointer to the action. must be a dynamically allocated object.

◆ setViewAction()

void rcsc::PlayerAgent::setViewAction ( ViewAction * act )

reserve change view action

Parameters

act	pointer to the action. must be a dynamically allocated object.

◆ visualSensor()

const VisualSensor & rcsc::PlayerAgent::visualSensor ( ) const

get visual sensor

Returns: const reference to the visual sensor instance

◆ world()

const WorldModel & rcsc::PlayerAgent::world ( ) const

inline

get worldmodel

Returns: const reference to world model instance

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ actionImpl()

◆ addFreeformMessageParser()

◆ addSayMessage()

◆ addSayMessageParser()

◆ audioSensor()

◆ bodySensor()

◆ bodyTimeStamp()

◆ communicationImpl()

◆ config()

◆ createConsoleClient()

◆ debugClient()

◆ doAttentionto()

◆ doAttentiontoOff()

◆ doCatch()

◆ doChangeFocus()

◆ doChangeView()

◆ doDash()

◆ doIntention()

◆ doKick()

◆ doMove()

◆ doPointto()

◆ doPointtoOff()

◆ doTackle()

◆ doTurn()

◆ doTurnNeck()

◆ effector()

◆ fullstateSensor()

◆ fullstateWorld()

◆ handleExit()

◆ handleMessage()

◆ handleMessageOffline()

◆ handleStart()

◆ handleStartOffline()

◆ handleTimeout()

◆ initImpl()

◆ removeFreeformMessageParser()

◆ removeSayMessage()

◆ removeSayMessageParser()

◆ seeState()

◆ seeTimeStamp()

◆ setArmAction()

◆ setFocusAction()

◆ setIntention()

◆ setNeckAction()

◆ setViewAction()

◆ visualSensor()

◆ world()