GT2004PlayersLocator Class Reference

This class is a locator for players of the own and the opponent´s team. More...

#include <GT2004PlayersLocator.h>

Inheritance diagram for GT2004PlayersLocator:

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[legend]List of all members.

Public Types
enum	{ NUMBER_OF_OWN_PLAYERS_TO_LOCATE = 3, NUMBER_OF_OPPONENT_PLAYERS_TO_LOCATE = 4 }
	Constants for the number of robots in the own and in the opponent´s team. More...
enum	{ NUMBER_OF_POINTS_FOR_OWN_PLAYERS = 150, NUMBER_OF_POINTS_FOR_OPPONENT_PLAYERS = 200 }
Public Member Functions
	GT2004PlayersLocator (const PlayersLocatorInterfaces &interfaces)
	Constructor.
virtual void	execute ()
	Executes the module.
Static Public Attributes
const double	TEAM_MESSAGE_VALIDITY = 0.3
const double	MIN_MATCH_DIST = 500
Private Member Functions
bool	correctObstaclePosition (int oldX, int oldY, int &newX, int &newY)
	Corrects the position of players.
void	addOwnPlayerPercepts (const SinglePlayerPercept playerPercepts[], int numberOfPlayerPercepts, const RobotPose &startRobotPose, const double collectionValidity, const unsigned long collectionTimestamp)
void	addOppPlayerPercepts (const SinglePlayerPercept playerPercepts[], int numberOfPlayerPercepts, const RobotPose &startRobotPose, const double collectionValidity, const unsigned long collectionTimestamp)
Private Attributes
TeamMessage	teamMessage [NUMBER_OF_OWN_PLAYERS_TO_LOCATE]
VAPoints	opponentPointsWithValidityAndAge
	The points with validity and age for determining the position of robots of the own team.
VAPoints	ownPointsWithValidityAndAge
	The points with validity and age for determining the position of robots of the opponent´s team.

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Detailed Description

This class is a locator for players of the own and the opponent´s team.

It can assign the detected percepts to the players (even if they are not seen for two seconds), using points with validity and age.

Author:

Michael Kunz

Definition at line 22 of file GT2004PlayersLocator.h.

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Member Enumeration Documentation

anonymous enum

Constants for the number of robots in the own and in the opponent´s team. Enumeration values: NUMBER_OF_OWN_PLAYERS_TO_LOCATE  NUMBER_OF_OPPONENT_PLAYERS_TO_LOCATE  Definition at line 29 of file GT2004PlayersLocator.h.

anonymous enum

Enumeration values: NUMBER_OF_POINTS_FOR_OWN_PLAYERS  NUMBER_OF_POINTS_FOR_OPPONENT_PLAYERS  Definition at line 31 of file GT2004PlayersLocator.h.

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Constructor & Destructor Documentation

GT2004PlayersLocator::GT2004PlayersLocator (  const PlayersLocatorInterfaces &  interfaces  )

Constructor. Parameters: interfaces  The paramters of the PlayersLocator module. Definition at line 20 of file GT2004PlayersLocator.cpp.

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Member Function Documentation

void GT2004PlayersLocator::execute (   )  [virtual]

Executes the module. Implements Module. Definition at line 27 of file GT2004PlayersLocator.cpp. References addOppPlayerPercepts(), addOwnPlayerPercepts(), VAPoints::addPoint(), PlayersPercept::bluePlayers, VAPoints::getMaximum(), PlayerPoseCollection::getOwnPlayerPose(), getPlayer(), PlayerPose::getPose(), RobotPose::getPose(), Player::getTeamColor(), PlayerPose::getValidity(), MIN_MATCH_DIST, NUMBER_OF_OPPONENT_PLAYERS_TO_LOCATE, NUMBER_OF_OWN_PLAYERS_TO_LOCATE, PlayersPercept::numberOfBluePlayers, PlayerPoseCollection::numberOfOpponentPlayers, PlayerPoseCollection::numberOfOwnPlayers, PlayersPercept::numberOfRedPlayers, TeamMessageCollection::numberOfTeamMessages, opponentPointsWithValidityAndAge, ownPointsWithValidityAndAge, PlayersPercept::redPlayers, VAPoints::searchMaxima(), PlayerPoseCollection::setOpponentPlayerPose(), PlayerPoseCollection::setOwnPlayerPose(), Pose2D::translation, Vector2< double >::x, and Vector2< double >::y.

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bool GT2004PlayersLocator::correctObstaclePosition (  int  oldX, int  oldY, int &  newX, int &  newY )  [private]

Corrects the position of players. When the calculated position of a robot lies outside the playingfiled it is corrected to the nearby groundline. Parameters: oldX  The x position before correcting it oldY  The y position before correcting it newX  The corrected x position newY  The corrected y position Returns: Returns TRUE if position is corrected, otherwise FALSE Definition at line 140 of file GT2004PlayersLocator.cpp. Referenced by addOppPlayerPercepts(), and addOwnPlayerPercepts().

void GT2004PlayersLocator::addOwnPlayerPercepts (  const SinglePlayerPercept  playerPercepts[], int  numberOfPlayerPercepts, const RobotPose &  startRobotPose, const double  collectionValidity, const unsigned long  collectionTimestamp )  [private]

Definition at line 189 of file GT2004PlayersLocator.cpp. References VAPoints::addPoint(), correctObstaclePosition(), RobotPose::getPose(), RobotPose::getValidity(), ownPointsWithValidityAndAge, Vector2< V >::x, and Vector2< V >::y. Referenced by execute().

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void GT2004PlayersLocator::addOppPlayerPercepts (  const SinglePlayerPercept  playerPercepts[], int  numberOfPlayerPercepts, const RobotPose &  startRobotPose, const double  collectionValidity, const unsigned long  collectionTimestamp )  [private]

Definition at line 222 of file GT2004PlayersLocator.cpp. References VAPoints::addPoint(), correctObstaclePosition(), RobotPose::getPose(), RobotPose::getValidity(), opponentPointsWithValidityAndAge, Vector2< V >::x, and Vector2< V >::y. Referenced by execute().

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Member Data Documentation

const double GT2004PlayersLocator::TEAM_MESSAGE_VALIDITY = 0.3 [static]

Definition at line 17 of file GT2004PlayersLocator.cpp.

const double GT2004PlayersLocator::MIN_MATCH_DIST = 500 [static]

Definition at line 18 of file GT2004PlayersLocator.cpp. Referenced by execute().

TeamMessage GT2004PlayersLocator::teamMessage[NUMBER_OF_OWN_PLAYERS_TO_LOCATE] [private]

Definition at line 44 of file GT2004PlayersLocator.h.

VAPoints GT2004PlayersLocator::opponentPointsWithValidityAndAge [private]

The points with validity and age for determining the position of robots of the own team. Definition at line 50 of file GT2004PlayersLocator.h. Referenced by addOppPlayerPercepts(), and execute().

VAPoints GT2004PlayersLocator::ownPointsWithValidityAndAge [private]

The points with validity and age for determining the position of robots of the opponent´s team. Definition at line 55 of file GT2004PlayersLocator.h. Referenced by addOwnPlayerPercepts(), and execute().

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

• Modules/PlayersLocator/GT2004PlayersLocator.h
• Modules/PlayersLocator/GT2004PlayersLocator.cpp

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