basic trainer agent class More...

#include <trainer_agent.h>

Inheritance diagram for rcsc::TrainerAgent:

Collaboration diagram for rcsc::TrainerAgent:

[legend]

Public Member Functions
	TrainerAgent ()
	initialize member variables

virtual	~TrainerAgent ()
	delete dynamic allocated memory

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

const CoachWorldModel &	world () const
	get field status More...

const CoachVisualSensor &	visualSensor () const
	get the analyzed visual info More...

bool	doCheckBall ()
	send check_ball command More...

bool	doLook ()
	send look command More...

bool	doTeamNames ()
	send team_name command More...

bool	doEye (bool on)
	send eye command More...

bool	doEar (bool on)
	send ear command More...

bool	doKickOff ()
	send start command to kickoff the game More...

bool	doMoveBall (const Vector2D &pos, const Vector2D &vel)
	send ball move command More...

bool	doMovePlayer (const std::string &teamname, const int unum, const Vector2D &pos)
	send player move command More...

bool	doMovePlayer (const std::string &teamname, const int unum, const Vector2D &pos, const AngleDeg &angle)
	send player move command More...

bool	doRecover ()
	send recover command More...

bool	doChangeMode (const PlayMode mode)
	send playmode change command More...

bool	doChangePlayerType (const std::string &teamname, const int unum, const int type)
	send change_player_type command More...

bool	doSay (const std::string &msg)
	send say command (coach language) 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 void	handleMessage ()
	handle server message event 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 decision. More...

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.

Protected Member Functions inherited from rcsc::SoccerAgent
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
TrainerConfig	M_config
	configuration parameter set

CoachWorldModel	M_worldmodel
	internal memory of field status

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

Detailed Description

basic trainer agent class

Member Function Documentation

◆ actionImpl()

virtual void rcsc::TrainerAgent::actionImpl ( )

protectedpure virtual

pure virtual method. register decision.

This method is used to set trainer's action. This method is called from action(). So, do NOT call this method by yourself.

◆ config()

const TrainerConfig & rcsc::TrainerAgent::config ( ) const

inline

get configuration set

Returns: const reference to the configuration class object

◆ createConsoleClient()

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

virtual

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

Returns: client object pointer.

Implements rcsc::SoccerAgent.

◆ doChangeMode()

bool rcsc::TrainerAgent::doChangeMode ( const PlayMode mode )

send playmode change command

Parameters

mode	new playmode Id

Returns: true if command is generated and sent

◆ doChangePlayerType()

bool rcsc::TrainerAgent::doChangePlayerType	(	const std::string &	teamname,
		const int	unum,
		const int	type
	)

send change_player_type command

Parameters

teamname	target player's team name
unum	target player's uniform number
type	new player type Id

Returns: true if command is generated and sent

◆ doCheckBall()

bool rcsc::TrainerAgent::doCheckBall ( )

send check_ball command

Returns: true if command is generated and sent

◆ doEar()

bool rcsc::TrainerAgent::doEar ( bool on )

send ear command

on if true, send (ear on), else (ear off)

Returns: true if command is generated and sent

◆ doEye()

bool rcsc::TrainerAgent::doEye ( bool on )

send eye command

on if true, send (eye on), else (eye off)

Returns: true if command is generated and sent

◆ doKickOff()

bool rcsc::TrainerAgent::doKickOff ( )

send start command to kickoff the game

Returns: true if command is generated and sent

◆ doLook()

bool rcsc::TrainerAgent::doLook ( )

send look command

Returns: true if command is generated and sent

◆ doMoveBall()

bool rcsc::TrainerAgent::doMoveBall	(	const Vector2D &	pos,
		const Vector2D &	vel
	)

send ball move command

Parameters

pos	new position
vel	new velocity

Returns: true if command is generated and sent

◆ doMovePlayer() [1/2]

bool rcsc::TrainerAgent::doMovePlayer	(	const std::string &	teamname,
		const int	unum,
		const Vector2D &	pos
	)

send player move command

Parameters

teamname	target player's team name
unum	target player's uniform number
pos	new position

Returns: true if command is generated and sent

◆ doMovePlayer() [2/2]

bool rcsc::TrainerAgent::doMovePlayer	(	const std::string &	teamname,
		const int	unum,
		const Vector2D &	pos,
		const AngleDeg &	angle
	)

send player move command

Parameters

teamname	target player's team name
unum	target player's uniform number
pos	new position
angle	new body angle

Returns: true if command is generated and sent

◆ doRecover()

bool rcsc::TrainerAgent::doRecover ( )

send recover command

Returns: true if command is generated and sent

◆ doSay()

bool rcsc::TrainerAgent::doSay ( const std::string & msg )

send say command (coach language)

Returns: true if command is generated and sent

◆ doTeamNames()

bool rcsc::TrainerAgent::doTeamNames ( )

send team_name command

Returns: true if command is generated and sent

◆ handleExit()

virtual void rcsc::TrainerAgent::handleExit ( )

protectedvirtual

handle exit event

Implements rcsc::SoccerAgent.

◆ handleMessage()

virtual void rcsc::TrainerAgent::handleMessage ( )

protectedvirtual

handle server message event

Do NOT call this method by yourself!

Implements rcsc::SoccerAgent.

◆ handleStart()

virtual bool rcsc::TrainerAgent::handleStart ( )

protectedvirtual

handle start event

Returns: status of start procedure.

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

Implements rcsc::SoccerAgent.

◆ handleTimeout()

virtual void rcsc::TrainerAgent::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 milli seconds sinc last sensory message.

This method is called when select() timeout occurs Do NOT call this method by yourself!

Implements rcsc::SoccerAgent.

◆ initImpl()

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

protectedvirtual

analyze command line options

Parameters

cmd_parser command line parser object

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

This method is called from SoccerAgent::init( argc, argv ) SoccerAgent::init(argc,argv) should be called in main(). Do NOT call this method by yourself!

Implements rcsc::SoccerAgent.

◆ visualSensor()

const CoachVisualSensor & rcsc::TrainerAgent::visualSensor ( ) const

get the analyzed visual info

Returns: const reference to the visual sensor instance

◆ world()

const CoachWorldModel & rcsc::TrainerAgent::world ( ) const

inline

get field status

Returns: const reference to the worldmodel instance

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

/home/kali/rc/tools/include/rcsc/trainer/trainer_agent.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ actionImpl()

◆ config()

◆ createConsoleClient()

◆ doChangeMode()

◆ doChangePlayerType()

◆ doCheckBall()

◆ doEar()

◆ doEye()

◆ doKickOff()

◆ doLook()

◆ doMoveBall()

◆ doMovePlayer() [1/2]

◆ doMovePlayer() [2/2]

◆ doRecover()

◆ doSay()

◆ doTeamNames()

◆ handleExit()

◆ handleMessage()

◆ handleStart()

◆ handleTimeout()

◆ initImpl()

◆ visualSensor()

◆ world()