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RS::BallView Class Reference

This view is used to keep track of the ball. More...

Inheritance diagram for RS::BallView:

[legend]Collaboration diagram for RS::BallView:

[legend]List of all members.

Public Member Functions
	BallView (const ViewId id)
	Create a ball view with ViewId id.
virtual	~BallView ()
	Destroys the ball view.
const BallObject &	getBallObject (const Int hist=NOW) const
	Get a constant object representing the ball hist cycles ago.
TimeUnknown	getLastObservationTime (const Int hist=NOW) const
	Get the time of the last observation of the ball.
FloatUE	getRelativeDistance (const Int hist=NOW) const
	Get the distance to the ball hist cycles ago.
AngleDegUE	getRelativeDirection (const Int hist=NOW) const
	Get the relative direction to the ball hist cycles ago in relation to the agents body direction.
VectorUE	getRelativeVector (const Int hist=NOW) const
	Get the relative vector to the ball hist cycles ago in relation to the agents body direction.
PointUE	getPosition (const Int hist=NOW) const
	Get the position of the ball hist cycles ago.
VectorUE	getSpeedVector (const Int hist=NOW) const
	Get the absolute speed vector of the ball hist cycles ago.
VectorUE	getRelativeSpeedVector (const Int hist=NOW) const
	Get the relative speed vector of the ball hist cycles ago.
bool	isBallKickable (const Int hist=NOW) const
	Returns true iff the ball is kickable.
bool	isBallCatchable (const Int hist=NOW) const
	Returns true iff the ball is catchable.
Protected Member Functions
Update functions.
virtual void	myNewCycle ()
	Called when the sensor interface detects a new cycle.
virtual void	myUpdateAfterCoachMessage ()
	Called after a new message from the coach has been recieved.
virtual void	myUpdateAfterInit ()
	Called after an init message has been received.
virtual void	myUpdateAfterSee ()
	Called after an visual (see) message has been received.
virtual void	myUpdateAfterHear ()
	Called after an aural (hear) message has been received.
virtual void	myUpdateAfterSense ()
	Called after a sense body message has been received.
virtual void	myUpdateAfterCommand ()
	Called after a command has been executed.
Protected Attributes
AgentView *	agentView
	A pointer to the agent view.
const WorldFacts *	facts
	The known facts of the world.

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Detailed Description

This view is used to keep track of the ball.

Todo:

Is the view needed?

Information from kickview could be included.

Unit:

Framework/view

Revision

1.8

Author

petan

Date

2004/08/13 11:47:35

Definition at line 94 of file BallView.h.

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Member Function Documentation

VectorUE RS::BallView::getSpeedVector (  const Int    hist = NOW )  const [inline]

Get the absolute speed vector of the ball hist cycles ago. I.e. absolute amount of speed and speed direction. Definition at line 107 of file BallView.icc. References getBallObject(), and RS::MobileObject::getSpeedVector(). Referenced by RS::KickBallCloseToBody::applicable(), RS::FreezeBall::applicable(), RS::AccelerateBallToVelocity::applicable(), RS::AmIFirstToBall::evaluate(), RS::KickBallCloseToBody::generateStep(), RS::FreezeBall::generateStep(), RS::AccelerateBallToVelocity::generateStep(), getRelativeSpeedVector(), and RS::PassView::partnerBodyDirection().

VectorUE RS::BallView::getRelativeSpeedVector (  const Int    hist = NOW )  const [inline]

Get the relative speed vector of the ball hist cycles ago. I.e. absolute amount of speed and relative speed direction. Definition at line 111 of file BallView.icc. References agentView, RS::AgentView::getSpeedVector(), and getSpeedVector().

bool RS::BallView::isBallKickable (  const Int    hist = NOW )  const

Returns true iff the ball is kickable. Obsolete: it should be made into a predicate! Definition at line 125 of file BallView.cc. References facts, getRelativeDistance(), getRelativeVector(), and RS::WorldFacts::SP_kickable_area. Referenced by RS::KickBallCloseToBody::applicable(), RS::FreezeBall::applicable(), and RS::AccelerateBallToVelocity::applicable().

bool RS::BallView::isBallCatchable (  const Int    hist = NOW )  const

Returns true iff the ball is catchable. Obsolete: it should be made into a predicate! Definition at line 118 of file BallView.cc. References facts, getRelativeVector(), and RS::WorldFacts::SP_catchable_area_l. Referenced by RS::CatchBall::applicable().

void RS::BallView::myNewCycle (    )  [inline, protected, virtual]

Called when the sensor interface detects a new cycle. It is called *before* the values in SensorInterface are erased, so this is the last chance to use them. Implements RS::View. Definition at line 117 of file BallView.icc.

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Member Data Documentation

const WorldFacts* RS::BallView::facts [protected]

The known facts of the world. (old ParamenterView) Definition at line 145 of file BallView.h. Referenced by isBallCatchable(), and isBallKickable().

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

• BallView.h
• BallView.cc
• BallView.icc

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