BallModel Class Reference

Contains the modeled knowledge about the ball. More...

#include <BallModel.h>

Collaboration diagram for BallModel:

[legend]List of all members.

Public Types
enum	{ behaviorControlTimeAfterWhichCommunicatedBallsAreAccepted = 6000 }
	The time for the behaviorControl after that communicated ball positions are accepted. More...
Public Member Functions
	BallModel ()
	Constructor.
void	setFrameNumber (unsigned long frameNumber)
const Vector2< double > &	getKnownPosition (unsigned long timeAfterWhichCommunicatedBallsAreAccepted) const
	Returns a "known" ball position.
unsigned long	getTimeSinceLastKnown (unsigned long timeAfterWhichCommunicatedBallsAreAccepted) const
	Returns the time since the ball was seen or communicated.
Public Attributes
unsigned long	frameNumber
int	numberOfImagesWithoutBallPercept
int	numberOfImagesWithBallPercept
bool	ballWasSeen
SeenBallPosition	seen
	The position of the ball estimated from own observations.
PropagatedBallPosition	propagated
	The position of the ball estimated from own observations and the observed ball speed; it is propagated even if the ball is not seen.
CommunicatedBallPosition	communicated
	The position of the ball estimated from own observations and from observation of other players.
BallState	ballState
	Qualitative propositions of the ball.
double	validity
double	motionValidity

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Detailed Description

Contains the modeled knowledge about the ball.

Definition at line 157 of file BallModel.h.

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Member Enumeration Documentation

anonymous enum

The time for the behaviorControl after that communicated ball positions are accepted. Enumeration values: behaviorControlTimeAfterWhichCommunicatedBallsAreAccepted  Definition at line 204 of file BallModel.h.

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Constructor & Destructor Documentation

BallModel::BallModel (   )

Constructor. Definition at line 123 of file BallModel.cpp. References ballWasSeen.

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Member Function Documentation

void BallModel::setFrameNumber (  unsigned long  frameNumber  )  [inline]

Definition at line 164 of file BallModel.h.

const Vector2< double > & BallModel::getKnownPosition (  unsigned long  timeAfterWhichCommunicatedBallsAreAccepted  )  const

Returns a "known" ball position. If the ball was seen, the seen ball position is used. If the ball was not seen for a timeAfterThatCommunicatedBallsAreAccepted, the communicatedBallPosition is returned, if there was received a ball position. Parameters: timeAfterWhichCommunicatedBallsAreAccepted  The time after that the communicated position is returned Definition at line 87 of file BallModel.cpp. References communicated, SystemCall::getTimeSince(), seen, CommunicatedBallPosition::timeWhenLastObserved, and SeenBallPosition::timeWhenLastSeen. Referenced by GT2004BasicBehaviorGoaliePosition::execute(), GT2004BasicBehaviorGoToBallWithoutTurning::execute(), GT2004BasicBehaviorGoToBall::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), BallSymbols::getKnownAngle(), BallSymbols::getKnownDistance(), BallSymbols::getKnownX(), BallSymbols::getKnownY(), and GTStandardConverter::setData().

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unsigned long BallModel::getTimeSinceLastKnown (  unsigned long  timeAfterWhichCommunicatedBallsAreAccepted  )  const

Returns the time since the ball was seen or communicated. Parameters: timeAfterWhichCommunicatedBallsAreAccepted  as in getKnownPosition() Definition at line 108 of file BallModel.cpp. References communicated, SystemCall::getTimeSince(), min, seen, CommunicatedBallPosition::timeWhenLastObserved, and SeenBallPosition::timeWhenLastSeen. Referenced by BallSymbols::getTimeSinceLastKnown(), and GTStandardConverter::setData().

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Member Data Documentation

unsigned long BallModel::frameNumber

Definition at line 163 of file BallModel.h. Referenced by GT2004BallLocator::execute(), operator<<(), and operator>>().

int BallModel::numberOfImagesWithoutBallPercept

Definition at line 166 of file BallModel.h. Referenced by GT2004BallLocator::determineNumberOfImagesWith_WithoutBall(), and BallSymbols::getNumberOfImagesWithoutBallPercept().

int BallModel::numberOfImagesWithBallPercept

Definition at line 167 of file BallModel.h. Referenced by GT2004BallLocator::determineNumberOfImagesWith_WithoutBall(), and BallSymbols::getNumberOfImagesWithBallPercept().

bool BallModel::ballWasSeen

Definition at line 169 of file BallModel.h. Referenced by BallModel(), GT2004BallLocator::determineNumberOfImagesWith_WithoutBall(), GT2004BehaviorControl::preExecute(), and BallSymbols::registerSymbols().

SeenBallPosition BallModel::seen

The position of the ball estimated from own observations. Definition at line 172 of file BallModel.h. Referenced by GT2004ObstaclesLocator::addPSDPercept(), GT2004StrategySymbols::computeRole(), GT2004StrategySymbols::estimateTimeToReachBall(), KickLogger::execute(), GT2004BallLocator::execute(), BallSymbols::getAngleToOpponentGoal(), GT2004HeadControlSymbols::getBallConsecutivelySeenTime(), BallSymbols::getBallSeenInFrontOfOpponentGoal(), GT2004HeadControlSymbols::getBallSpeedAbs(), GT2004HeadControlSymbols::getBallTimeSinceLastSeen(), KickLogger::getBallX(), KickLogger::getBallY(), BallSymbols::getConsecutivelySeenTime(), BallSymbols::getDistanceSeenBallToOwnPenaltyArea(), GT2004StrategySymbols::getGoalieMaxPositionSpeed(), BallSymbols::getJustSeen(), getKnownPosition(), GT2004HeadControlSymbols::getRelativeBallSpeedX(), GT2004HeadControlSymbols::getRelativeBallSpeedY(), BallSymbols::getSeenAngle(), GT2004HeadControlSymbols::getSeenDistance(), BallSymbols::getSeenDistance(), BallSymbols::getSeenDistanceX(), BallSymbols::getSeenDistanceY(), BallSymbols::getSeenRelativeSpeedX(), BallSymbols::getSeenRelativeSpeedY(), BallSymbols::getSeenSpeed(), getTimeSinceLastKnown(), BallSymbols::getTimeSinceLastSeen(), GT2004HeadControlSymbols::getTimeSinceLastSeenConsecutively(), BallSymbols::getTimeSinceLastSeenConsecutively(), GT2004BallLocator::handleSeenBall(), GT2004BallLocator::handleUnseenBall(), GT2004BehaviorControl::preExecute(), BallSymbols::registerSymbols(), KickSelectionSymbols::retrieveKick(), GT2004BallLocator::setBallStateV2(), GTStandardConverter::setData(), ObstaclesSymbols::update(), and BallSymbols::update().

PropagatedBallPosition BallModel::propagated

The position of the ball estimated from own observations and the observed ball speed; it is propagated even if the ball is not seen. Definition at line 178 of file BallModel.h. Referenced by GT2004BallLocator::handleSeenBall(), GT2004BallLocator::handleUnseenBall(), and GT2004BallLocator::setUnknownResult().

CommunicatedBallPosition BallModel::communicated

The position of the ball estimated from own observations and from observation of other players. Definition at line 184 of file BallModel.h. Referenced by GT2004HeadControlSymbols::getCommunicatedBallDistance(), getKnownPosition(), getTimeSinceLastKnown(), and GT2004BehaviorControl::preExecute().

BallState BallModel::ballState

Qualitative propositions of the ball. Definition at line 187 of file BallModel.h. Referenced by BallSymbols::getProjectedDistanceOnYAxis(), BallSymbols::getTimeUntilBallCrossesYAxis(), GT2004BehaviorControl::postExecute(), BallSymbols::registerSymbols(), GT2004BallLocator::setBallState(), and GT2004BallLocator::setBallStateV2().

double BallModel::validity

Definition at line 207 of file BallModel.h.

double BallModel::motionValidity

Definition at line 208 of file BallModel.h. Referenced by BallSymbols::getMotionValidity().

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

• Representations/Cognition/BallModel.h
• Representations/Cognition/BallModel.cpp

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