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BallView.icc

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/* -*- Mode: C++ -*-
 * $Id: BallView.icc,v 1.8 2004/08/13 11:47:35 petan Exp $
 *
 *
 * COPYRIGHT INFORMATION
 *
 * This file is part of RoboSoc created by Fredrik Heintz <frehe@ida.liu.se>
 * Copyright (C) 1999, 2000 Fredrik Heintz, Linköping University, Sweden
 *
 * You are allowed to modify and use this code as long as you retain this
 * notice. If you make any changes or have any comments I would appreciate
 * it if you send me a message. For more information, please see
 * http://www.ida.liu.se/~frehe/RoboCup/RoboSoc/
 *
 *
 * IDENTIFICATION
 *
 * Filename: BallView.icc
 * Unitname: Framework/view
 * $Revision: 1.8 $
 * Created by: Fredrik Heintz 2000-09-04
 * Last modified by $Author: petan $ $Date: 2004/08/13 11:47:35 $
 *
 *
 * HISTORY
 *
 * $Log: BallView.icc,v $
 * Revision 1.8  2004/08/13 11:47:35  petan
 * Changed absolute references to relative and made the documentation more clear
 *
 * Revision 1.7  2002/09/26 15:28:20  s02davro
 * Moved isBallKickable to cc and corrected it
 *
 * Revision 1.6  2002/08/31 15:22:46  s02davro
 * Small changes in views
 *
 * Revision 1.5  2002/08/02 21:53:13  s02davro
 * Now works by extracting information from the BallObject, uses AgentView as before.
 *
 * Revision 1.4  2001/09/17 21:27:39  andbo928
 * Removed FutureBallView references.
 *
 * Revision 1.3  2001/01/11 22:00:18  olalu526
 * Added the real world model with support for new simulation steps.
 *
 * Revision 1.2  2001/01/10 15:12:58  olalu526
 * Added support for WorldModel to some basic classes.
 *
 * Revision 1.1  2000/09/21 13:46:40  frehe
 * Move the RoboSoc views from rsviews to the rsframework library.
 *
 * Revision 1.2  2000/09/13 00:08:06  frehe
 * Updated the views to inherit from the ViewWithHistory instead and also changed those views that used a static pointer to itself to do process the data in the sensor interface to use the new forEach methods implemented in the FrameworkSensorInterface.
 *
 * Revision 1.1  2000/09/04 15:27:20  frehe
 * Imported the current version of RoboSoc (soon to be v2.5.0)
 *
 */

#include "machine_dependent_compiler_directives.h"


RS_BEGIN_NAMESPACE

inline const BallObject& BallView::getBallObject(const Int hist) const {
  return worldModelInterface->getWorld(hist).getBall();
}

inline TimeUnknown BallView::getLastObservationTime(const Int hist) const {
  return getBallObject(hist).getObservationTime();
}

inline FloatUE BallView::getRelativeDistance(const Int hist) const {
  return getRelativeVector(hist).getLength();
}

inline AngleDegUE BallView::getRelativeDirection(const Int hist) const {
  return getRelativeVector(hist).getAngle();
}

inline VectorUE BallView::getRelativeVector(const Int hist) const {
  VectorUE absoluteVector(agentView->getPosition(hist), getPosition(hist));
  if (agentView->getBodyDirection(hist).isKnown()) {
    return absoluteVector.rotate(-agentView->getBodyDirection(hist));
  }
  else {
    return absoluteVector.makeUnknown();
  }
}

inline PointUE BallView::getPosition(const Int hist) const {
  return getBallObject(hist).getPosition();
}

inline VectorUE BallView::getSpeedVector(const Int hist) const {
  return getBallObject(hist).getSpeedVector();
}

inline VectorUE BallView::getRelativeSpeedVector(const Int hist) const {
  return getSpeedVector(hist) - agentView->getSpeedVector(hist);
}

inline void BallView::myUpdateAfterInit() {}

inline void BallView::myNewCycle() {}

inline void BallView::myUpdateAfterSee() {}

inline void BallView::myUpdateAfterHear() {}

inline void BallView::myUpdateAfterCommand() {}

inline void BallView::myUpdateAfterSense() {}

inline void BallView::myUpdateAfterCoachMessage() {}


RS_END_NAMESPACE

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