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RS::OffsideTrapView Class Reference

This view is intended be used to spot situations where an offside trap is suitable. More...

Inheritance diagram for RS::OffsideTrapView:

[legend]Collaboration diagram for RS::OffsideTrapView:

[legend]List of all members.

Public Member Functions
	OffsideTrapView (const ViewId id, Float maxTrapDist=25.0)
	Construct a view with the ViewId id.
	~OffsideTrapView ()
	Destroys the view.
bool	canPressureOpponent ()
	Checks whether there are any defenders that can put pressure on the ball keeper.
void	getPlayersToSetPress (std::vector< PlayerObject > &pressurePlayers)
	Get the players that can put pressure on the ball keeper.
bool	opponentHasBall ()
	Checks if opponent is ball keeper.
FloatUE	getOpponentPosClosestToGoal ()
	Get the position of the opponent closest to our goal.
FloatUE	getTeammatePosNextClosestToGoal ()
	Get the second last defender (including the goalie).
bool	suitable ()
	Checks whether it is suitbale to start an offside trap.
bool	unsuitable (int xcoord)
	Checks wheter it is unsuitable to continue with the trap.
Protected Member 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
const WorldFacts *	facts
PlayerView *	playerView
	The agents view of other players.
BallView *	ballView
	The agents view of the ball.
AgentView *	agentView
	The agents view of itself.

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Detailed Description

This view is intended be used to spot situations where an offside trap is suitable.

It can be used by all players. It is used by the skills InitiateOffsideTrap and ExecuteOffsideTrap.

Todo:

• The member canPressureOpponent should be implemented, as for now it returns always true.

• suitable can be refined to handle take the speed vector of the ball in to account.

Unit:

Framework/view

Revision

1.8

Author

aip4

Date

2003/10/12 21:53:38

Definition at line 106 of file OffsideTrapView.h.

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Constructor & Destructor Documentation

RS::OffsideTrapView::OffsideTrapView (  const ViewId    id, Float    maxTrapDist = 25.0 )

Construct a view with the ViewId id. Parameters: id  The view id. maxTrapDist  This is the maximum distance a defender should run to make an offside trap. The default value is 25 meters. Definition at line 83 of file OffsideTrapView.cc. References RS::getView().

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Member Function Documentation

bool RS::OffsideTrapView::canPressureOpponent (    )

Checks whether there are any defenders that can put pressure on the ball keeper. Returns: True if there are defenders that can pressure the ball keeper. Definition at line 95 of file OffsideTrapView.cc.

void RS::OffsideTrapView::getPlayersToSetPress (  std::vector< PlayerObject > &    pressurePlayers )

Get the players that can put pressure on the ball keeper. Parameters: pressurePlayers  A vector that will be filled with up to two PlayerObjects. Both players will have a x-coordinate with is smaller than that of the ball. The first player will have a y-coordinate which is larger than that of the ball and the second will have a y-coordinate which is smaller than that of the ball. Definition at line 105 of file OffsideTrapView.cc. References agentView, ballView, RS::AgentView::getAgentObject(), RS::BallView::getPosition(), RS::PlayerView::getTeammateClosestToBall(), RS::PlayerView::getTeammates(), and playerView.

bool RS::OffsideTrapView::opponentHasBall (    )

Checks if opponent is ball keeper. Returns: True if the opponent has got the ball. Definition at line 150 of file OffsideTrapView.cc. References ballView, RS::PlayerView::getOpponentClosestToBall(), RS::BallView::getPosition(), RS::MobileObject::getPosition(), RS::BallView::getRelativeDistance(), RS::PlayerView::getTeammateClosestToBall(), and playerView. Referenced by suitable().

FloatUE RS::OffsideTrapView::getOpponentPosClosestToGoal (    )

Get the position of the opponent closest to our goal. Returns: The x-coordinate of the opponent closest to our goal. Definition at line 174 of file OffsideTrapView.cc. References RS::PlayerView::getOpponents(), and playerView. Referenced by suitable().

FloatUE RS::OffsideTrapView::getTeammatePosNextClosestToGoal (    )

Get the second last defender (including the goalie). Returns: The x-coordinate of the teammate next closest to our goal (including the goalie). Definition at line 191 of file OffsideTrapView.cc. References agentView, RS::AgentView::getAgentObject(), RS::PlayerView::getTeammates(), and playerView. Referenced by suitable(), and unsuitable().

bool RS::OffsideTrapView::suitable (    )

Checks whether it is suitbale to start an offside trap. This is considered suitable if these conditions are met: There is an opponent on our half of the field The ball is behind the opponent which is closest to our goal The ball is controlled by an opponent Our second last defender is close enough to the x-coordinate to pass The opponent is not already offside Returns: True if it is suitable to start an offside trap. Definition at line 218 of file OffsideTrapView.cc. References ballView, getOpponentPosClosestToGoal(), RS::BallView::getPosition(), getTeammatePosNextClosestToGoal(), and opponentHasBall().

bool RS::OffsideTrapView::unsuitable (  int    xcoord )

Checks wheter it is unsuitable to continue with the trap. It is considered unsuitable if one of these conditions are met: The ball has pass the given x-coordinate One defender has more than #maxTrapDistance to run. Parameters: xcoord  X-coordinate which ball must not have passed. Returns: True if it is unsuitable to continue with the trap. Definition at line 238 of file OffsideTrapView.cc. References ballView, RS::BallView::getPosition(), and getTeammatePosNextClosestToGoal().

void RS::OffsideTrapView::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 262 of file OffsideTrapView.cc.

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

• OffsideTrapView.h
• OffsideTrapView.cc

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