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RS::WorldFacts Class Reference

This class contains information that doesn't change about the world. More...

Collaboration diagram for RS::WorldFacts:

[legend]List of all members.

Player parameters
Int	PP_player_types
	Number of player types.
Int	PP_subs_max
	Number of substitutions allowed during a game.
Float	PP_player_speed_max_delta_min
	Min delta for adjusting player_speed_max.
Float	PP_player_speed_max_delta_max
	Max delta for adjusting player_speed_max.
Float	PP_stamina_inc_max_delta_factor
	Amount delta is multiplied by for stamina_inc_max.
Float	PP_player_decay_delta_min
	Min delta for adjusting player_decay.
Float	PP_player_decay_delta_max
	Max delta for adjusting player_decay.
Float	PP_inertia_moment_delta_factor
	Amount delta is multiplied by for inertia_moment.
Float	PP_dash_power_rate_delta_min
	Min delta for adjusting dash_power_rate.
Float	PP_dash_power_rate_delta_max
	Min delta for adjusting dash_power_rate.
Float	PP_player_size_delta_factor
	Amount delta is multiplied by for player_size.
Float	PP_new_dash_power_rate_delta_min
	Traded with new_stamina_inc_max.
Float	PP_new_dash_power_rate_delta_max
	Traded with new_stamina_inc_max.
Float	PP_new_stamina_inc_max_delta_factor
	amount new_dash_power_rate_delta is multiplied by for stamina_inc_max
Float	PP_kickable_margin_delta_min
	Min delta for adjusting kickable_margin.
Float	PP_kickable_margin_delta_max
	Max delta for adjusting kickable_margin.
Float	PP_kick_rand_delta_factor
	amount delta is multiplied by for kick_rand
Float	PP_extra_stamina_delta_min
	Min delta for adjusting extra_stamina.
Float	PP_extra_stamina_delta_max
	Max delta for adjusting extra_stamina.
Float	PP_effort_max_delta_factor
	amount delta is multiplied by for effort_max
Float	PP_effort_min_delta_factor
	amount delta is multiplied by for effort_min
Public Types
enum	InputType {   IT_INT, IT_FLOAT, IT_BOOL, IT_STRING,   IT_NONE }
	The InputTypes for the parameters.
Public Member Functions
virtual	~WorldFacts ()
	Destructor for the class.
void	readCommandLine (int argc, char **argv, int verbose=0)
	Read and parse the command line options supported by worldFacts.
void	setOption (const std::string &name, std::string value)
void	setOption (const std::string &name, int value)
void	setOption (const std::string &name, double value)
void	readOptions (const std::string &filename, int verbose=0)
	Read and parse a configuration file assigning parameters values.
bool	readOption (const char *linebuf, int verbose=0)
	Read and parse a line buffer containing parameters and their values.
bool	readOption (const char *option, const char *value)
	Read and assign a single parameter a value.
const MarkerObject &	getMarker (MarkerName marker) const
	Get a Marker.
const LineObject &	getLine (SideLineName line) const
	Get a Line.
void	setSides (Side our, Side their)
	Set the side of the playing teams.
void	setUniformNumber (UInt16 my_number)
	Set the agents uniformnumber.
void	setScore (Side side, UInt score)
	Set the score of the game.
Side	getOurSide () const
	Return the side the agent is playing for.
Side	getTheirSide () const
	Return the opponents side.
UInt	getUniformNumber () const
	Return the agents uniformnumber.
UInt	getOurScore () const
	Returns the agents teams score.
UInt	getTheirScore () const
	Returns the opponents score.
const MarkerObject &	getTheirGoal () const
	Return a MarkerObject representing the opponents goal.
const MarkerObject &	getOurGoal () const
	Return a MarkerObject representing the agents teams goal.
void	serverParamsInitialized ()
	The server parameters has been initialized from the server.
void	playerParamsInitialized ()
	The player parameters has been initialized from the server.
void	playerTypeComplete ()
	The heterogenous player types has been initialized from the server.
const std::vector< PlayerType > &	getPlayerTypes () const
	Return a vector of the available player types.
PlayerType	getPlayerType (UInt id) const
	Return a player type specificed by id.
PlayerType	getTeammateType (UInt number) const
	Return a teammates type specificed by number.
PlayerType	getMyType () const
	Return current players type.
void	setTeammateType (const UInt number, const UInt id)
	Sets a teammates type.
bool	isOurTeamNameKnown () const
	Returns true iff our teamname is known.
bool	isTheirTeamNameKnown () const
	Returns true iff their teamname is known.
Static Public Member Functions
const WorldFacts *	instance ()
	Static method to get a constant pointer to the WorldFacts.
WorldFacts *	nonConstInstance ()
	Static method to get a pointer to the WorldFacts.
void	init (int argc, char **argv, bool verbose=true)
	Initializer for the class.
Public Attributes
Server parameters
Moved here from ParameterView
bool	CP_no_logging
	If true no logging will be made.
std::string	CP_team_name
	Name of the team.
std::string	CP_their_team_name
	Name of the opponent team.
bool	CP_goalie
	If the agent is a goalie.
bool	CP_trainer
	If the agent is a trainer.
UInt	CP_cycles_before_unknown_ball
	The number of cycles the ball isn't seen before it's unknown.
UInt	CP_cycles_since_io_before_shutdown
	Control parameters.
UInt	CP_min_ticks_before_sending_command
UInt	CP_ticks_before_command_warning
UInt	CP_max_ticks_before_sending_command
UInt	CP_clang_version_min
	CLang version parameters.
UInt	CP_clang_version_max
Float	CP_dist_change_qstep
	Extra quantize parameters.
Float	CP_dir_change_qstep
Float	CP_speed_qstep
Int	CP_random_seed
	The random seed to be used to initialize random number generators.
Basic field parameters.
Float	SP_pitch_length
	Length of the playing field.
Float	SP_pitch_width
	Width of the playing field.
Float	SP_pitch_margin
	Padding for the field, size of the frame containing the field.
Float	SP_penalty_area_length
	Length of the penalty area.
Float	SP_penalty_area_width
	Width of the penalty area.
Float	SP_goal_area_length
	Length of the goal area.
Float	SP_goal_area_width
	With of the goal area.
Float	SP_penalty_spot_dist
	Distance between the penalty spot and the goal.
Float	SP_corner_arc_r
	The radius of the corner arc.
Int	SP_num_lines
	Number of lines in the field.
Int	SP_num_markers
	Number of markers in the field.
Float	SP_goal_width
	The width of the goal.
Int	SP_team_size
	Number of players in the team.
Visual Parameters.
Float	SP_unum_far_length
	The maximum distance when we always see a players uniformnumber.
Float	SP_unum_too_far_length
	The maximum distance when we have a chance to see a uniformnumber.
Float	SP_team_far_length
	The maximum distance when we always see a players team.
Float	SP_team_too_far_length
	The maximum distance when we have a chance to see a players team.
Server related parameters.
Float	SP_version
	The version of server protocol the agent will use.
std::string	SP_host
	The name of the machine hosting the server.
Int	SP_buffer_size
	The size of the communication buffer.
Int	SP_port
	Port number for player connection.
Int	SP_coach_port
	Port number for coach connection.
Int	SP_olcoach_port
	Port number for old coach connection.
bool	SP_verbose
	Flag whether the server should report errors.
Int	SP_drop_ball_time
	Cycles for dropping the ball after a free kick.
Automation parameters.
Int	SP_connect_wait
	Connect wait is the number of cycles to wait for all the players to connect before kicking off -1 indicates wait forever.
Int	SP_game_over_wait
	Cycles to wait when game is over.
Int	SP_kick_off_wait
	Time to wait before the game is automaticly kicked off.
bool	SP_auto_mode
	Automatic mode, kick off, end, exit.
std::string	SP_team_l_start
	Command for staring the left team.
std::string	SP_team_r_start
	Command for starting the right team.
Game related parameters.
Int	SP_slow_down_factor
	Factor to slow down simulator and information sending.
Int	SP_half_time
	The time in seconds of a game half.
Float	SP_free_kick_margin
	Distance between opponent and ball when a freekick is taken.
Float	SP_ckick_margin
	Distance between opponent and ball when a cornerkick is taken.
Int	SP_after_goal_wait
	Time in cycles to wait until the game begins again after a goal.
bool	SP_back_passes
	Is back passes allowed.
bool	SP_free_kick_faults
	Is freekick faults enabled.
Int	SP_nr_extra_halfs
	Number of extra halfs to play.
Int	SP_nr_normal_halfs
	Number of normal halfs to play.
Player parameters.
Float	SP_player_size
	The size (radius) of the players.
Float	SP_player_decay
	Player speed decay per cycle.
Float	SP_player_rand
	Random error in player movement.
Float	SP_player_weight
	The weight of the player (for wind calculations.).
Float	SP_player_speed_max
	The maximum speed of a player.
Float	SP_player_accel_max
	The maximum acceleation of a player.
Float	SP_player_rand_factor_l
	The random error in player movement for the left team.
Float	SP_player_rand_factor_r
	The random error in player movement for the right team.
Float	SP_inertia_moment
	Inertia moment for a player.
Float	SP_feel_distance
	The maximum distance where the agent can feel the ball or players.
Float	SP_dash_power_rate
	Is multiplied to the actual dashpower to get the players acceleration.
Float	SP_visible_angle
	The global angle of the view cone for a player in standard view mode.
Float	SP_visible_distance
	Visible distance??
Parameters related to auditory perception and aural abilities
Int	SP_hear_max
	The maximum hearing capacity for a player.
Int	SP_hear_inc
	The number of messages a player can hear in hear_decay cycles.
Int	SP_hear_decay
	Decay rate of player hearing capacity.
Int	SP_say_msg_size
	The maximum length in bytes of a (by player) spoken message.
Float	SP_audio_cut_dist
	The maximum distance over which a spoken message can be heard.
Parameters related to the tackling ability.
Float	SP_tackle_back_dist
	Distance for applicable backtackle.
Float	SP_tackle_dist
	Distance for applicable tackle.
Int	SP_tackle_exponent
	Tackle exponent, used in propability calculations.
Float	SP_tackle_power_rate
	Tackle power rate.
Float	SP_tackle_width
	Tackle width.
Int	SP_tackle_cycles
	The number of cycles a player is immobile after a tackle.
Parameters related to the arm moving, pointing ability.
Int	SP_point_to_ban
	The number of cycles before the hand is mobile after a pointto.
Int	SP_point_to_duration
	The number of cycles the hand will point to a position after a pointto.
Stamina, recovery and effort related parameters.
Float	SP_stamina_min
	The minimum stamina for a player.
Float	SP_stamina_max
	The maximum stamina for a player.
Float	SP_stamina_inc_max
	The maximum stamina increase for a player per cycle.
Float	SP_recover_dec_thr
	The percentage of maximum stamina below which the recovery decreases.
Float	SP_recover_dec
	The recovery decrease per cycle.
Float	SP_recover_min
	The minimum recovery for a player.
Float	SP_recover_max
	The maximum recovery for a player.
Float	SP_recover_init
	The inital recovery for a player.
Float	SP_effort_dec_thr
	The percentage of maximum stamina below which the effort decreases.
Float	SP_effort_dec
	The effort decrease per cycle.
Float	SP_effort_inc_thr
	The percentage of maximum stamina above which the effort increases.
Float	SP_effort_inc
	The effort increase per cycle.
Float	SP_effort_min
	The minimum effort for a player.
Float	SP_effort_max
	The maximum effort for a player.
Int	SP_effort_init
	Effort init.
Parameters related to the goalies catching ability.
Float	SP_catchable_area_l
	The length of the area where the goalies is able to catch the ball.
Float	SP_catchable_area_w
	The width of the area where the goalies is able to catch the ball.
Float	SP_catch_probability
	The propability a catch i successful.
Int	SP_catch_ban_cycle
	Cycles after a catch in which the goalie cannot catch again.
Int	SP_goalie_max_moves
	Maximum times the goalie is allowed to move (not dash) after a catch.
bool	SP_proper_goal_kicks
	Enforce proper goal kicks (out of penalty area).
Int	SP_max_goal_kicks
	Maximum times the goalie may try to do a correct goalkick.
Ball related parameters.
Float	SP_ball_size
	The size (radius) of the ball.
Float	SP_ball_decay
	Ball speed decay per cycle.
Float	SP_ball_rand
	Random error in ball movement.
Float	SP_ball_weight
	The weight of the ball (for wind calculations.).
Float	SP_ball_speed_max
	The maximum speed of the ball.
Float	SP_ball_accel_max
	The maximum acceleration of the ball.
Float	SP_stopped_ball_vel
	Velocity of a stopped ball.
Wind related parameters.
Float	SP_wind_force
	The wind force.
Float	SP_wind_dir
	The wind direction.
Float	SP_wind_rand
	The size of random error in wind force (I think).
Float	SP_wind_ang
	The random error in wind direction.
bool	SP_wind_none
	If the is no wind (the usual case).
bool	SP_wind_random
	If there is a random component in the wind.
Kicking related parameters.
Float	SP_kickable_margin
	Margin around player in which the ball is kickable.
Float	SP_kickable_area
	The area in which the ball is kickable.
Float	SP_kick_power_rate
	Is multiplied to the actual kickpower to get the balls acceleration.
Float	SP_kick_rand
	The random error in direction when kicking the ball.
Float	SP_kick_rand_factor_l
	The random error in direction when kicking for the left team.
Float	SP_kick_rand_factor_r
	The random error in direction when kicking for the right team.
Float	SP_control_radius
	Ball control radius, used to be used when calculating the kick power.
Float	SP_control_radius_width
	This is actually control_radius - player_size.
Float	SP_dist_qstep
	Quantization step for moving objects.
Float	SP_land_qstep
	Quantization step for stationary objects.
Float	SP_angle_qstep
	Quantization step for angles.
Float	SP_dist_qstep_l
	Quantization step for moving objects for the left team.
Float	SP_dist_qstep_r
	Quantization step for moving objects for the right team.
Float	SP_land_qstep_l
	Quantization step for stationary objects for the left team.
Float	SP_land_qstep_r
	Quantization step for stationary objects for the right team.
Float	SP_angle_qstep_l
	Quantization step for angles for the left team.
Float	SP_angle_qstep_r
	Quantization step for angles for the right team.
Float	SP_maxpower
	Maximum power for kick/dash.
Float	SP_minpower
	Minimum power for kick/dash.
Float	SP_maxmoment
	Maximum global angle for turn/kick.
Float	SP_minmoment
	Minimum global angle for turn/kick.
Float	SP_maxneckang
	Maximum global angle for turnneck.
Float	SP_minneckang
	Minimum global angle for turnneck.
Float	SP_maxneckmoment
	Maximum neckangle relative to body.
Float	SP_minneckmoment
	Minimum neckangle relative to body.
Coach related parameters.
Int	SP_say_coach_cnt_max
	Maximum number of coach messages possible.
Int	SP_say_coach_msg_size
	Maximum size of a coach message.
Int	SP_clang_win_size
	Time window which controls how many coach messages can be sent.
Int	SP_clang_define_win
	Number of define messages by coach per window.
Int	SP_clang_meta_win
	Number of meta messages by coach per window.
Int	SP_clang_advice_win
	Number of advice messages by coach per window.
Int	SP_clang_info_win
	Number of info messages by coach per window.
Int	SP_clang_del_win
	Number of del messages from coach per window.
Int	SP_clang_rule_win
	Number of rule messages from coach per window.
Int	SP_clang_mess_delay
	Delay of coach message, the number of cycles between send and receive.
Int	SP_clang_mess_per_cycle
	The number of messages the coach can send per cycle.
Int	SP_freeform_send_period
	Cycles between freeform coach messages.
Int	SP_freeform_wait_period
	Cycles for ??
Int	SP_send_vi_step
	The time in ms between (fullstate) visual information to the coach.
bool	SP_coach
	Coach mode.
bool	SP_coach_w_referee
	Coach with referee mode.
bool	SP_old_coach_hear
	Old format for hear command for the coach.
Offside related parameters.
bool	SP_use_offside
	Whether we using offside rules.
Float	SP_offside_active_area_size
	Radius around the ball in which a player can be offside.
Float	SP_offside_kick_margin
	Distance between opponent and ball when a offsidekick is taken.
bool	SP_forbid_kick_off_offside
	Whether it's allowed to kick off from an offside position.
Handicap parameters.
Int	SP_start_goal_l
	Starting score of the left team.
Int	SP_start_goal_r
	Starting score of the right team.
Int	SP_fullstate_l
	Flag whether to send fullstate information to the left team.
Int	SP_fullstate_r
	Flag whether to send fullstate information to the right team.
bool	SP_team_actuator_noise
	Whether the server is using team specific actuator noise.
Int	SP_slowness_on_top_left
	Slowness factor for left team.
Int	SP_slowness_on_top_right
	Slowness factor for right team.
Penalty parameters.
Int	SP_pen_before_setup_wait
	Time to wait before penalty setup.
Int	SP_pen_max_extra_kicks
	Maximum extra penalty kicks.
Int	SP_pen_nr_kicks
	Number of enalty kicks.
Int	SP_pen_ready_wait
	Time to wait when penalty is ready.
Int	SP_pen_setup_wait
	Time to wait after penalty setup.
Int	SP_pen_taken_wait
	Time to wait after a penalty has been taken.
Float	SP_pen_dist_x
	Distance from the goal where the ball is placed for a penalty.
Int	SP_pen_max_goalie_dist_x
	Maximum allowed distance in front of the goal for the goalie.
bool	SP_pen_allow_mult_kicks
	Is multiple kicks allowed during a penaltyshot.
bool	SP_pen_random_winner
	Should a random winner be picked when a penaltyround result in a draw.
bool	SP_penalty_shoot_outs
	Should a draw game result in a penalty shoot out.
Keepaway parameters.
bool	SP_keepaway
	Keepaway mode.
Int	SP_keepaway_length
	Keepaway region length.
Int	SP_keepaway_width
	Keepaway region width.
Int	SP_keepaway_start
	Automatic start of keepaway.
bool	SP_keepaway_logging
	Keepaway logging.
std::string	SP_keepaway_log_dir
	Keepaway output.
std::string	SP_keepaway_log_fixed_name
	Keepaway log name.
bool	SP_keepaway_log_fixed
	Keepaway fixed log.
bool	SP_keepaway_log_dated
	Keepaway date stamp on log.
Logging parameters.
std::string	SP_log_date_format
	Log date format.
bool	SP_game_logging
	Is game logging enabled.
Int	SP_game_log_version
	Game log version.
bool	SP_game_log_dated
	Date stamp in game log.
bool	SP_game_log_fixed
	Fixed game log name.
Int	SP_game_log_compression
	Compression level for game log.
std::string	SP_game_log_dir
	Game log directory.
std::string	SP_game_log_fixed_name
	Game log fixed name.
bool	SP_text_logging
	Is text logging enabled.
bool	SP_text_log_dated
	Date stamp in text log.
bool	SP_text_log_fixed
	Fixed text log name.
Int	SP_text_log_compression
	Text log compression.
std::string	SP_text_log_dir
	Text log directory.
std::string	SP_text_log_fixed_name
	Text log fixed name.
Int	SP_log_times
	??
bool	SP_profile
	Write out time of different parts to text log.
bool	SP_record_messages
	Record player commands in game log.
Other assorted parameters.
Int	SP_sense_body_step
	The time in ms between sense body information.
Int	SP_simulator_step
	The time in ms between simulator step.
Int	SP_send_step
	The time in ms between simulator udp send step.
Int	SP_recv_step
	The time in ms between simulator udp receive step.
Int	SP_lcm_step
	The least common multiplier of all the above steps.
std::string	SP_landmark_file
	Landmark file.
std::string	SP_module_dir
	Module directory.
bool	SP_send_comms
	Send player commands to monitor.
bool	SP_synch_mode
	Work in sycronized mode (send (think) and (done)).
Int	SP_synch_offset
	Player sends all messages before this offset value a start of cycle.
Int	SP_synch_micro_sleep
	Micro sleep ??

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Detailed Description

This class contains information that doesn't change about the world.

Values are set using default values, values from configfiles or command line argument. This information is used with ObservedWorld to give the agent a good WorldModel. This class replace the parameterView.

Todo:

Inline functions.

Decide what should be included in the class.

Move client parameters to different location.?

Sort the assorted parameters.

Unit:

BasicSystem

Revision

1.11

Author

frehe

Date

2006/09/24 15:46:05

Definition at line 111 of file WorldFacts.h.

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Member Function Documentation

void RS::WorldFacts::init (  int    argc, char **    argv, bool    verbose = true )  [static]

Initializer for the class. Needs command line arguments to read the server and client parameters from file or command line. Definition at line 129 of file WorldFacts.cc. References readCommandLine().

void RS::WorldFacts::readCommandLine (  int    argc, char **    argv, int    verbose = 0 )

Read and parse the command line options supported by worldFacts. They include -f file to read file as if it was a configuration file. You can also set individual parameters on the command line by -parameter value to set the parameter parameter to value. The parameter name is the same as used by the parameter view except for the prefix CP_ or SP_. Definition at line 683 of file WorldFacts.cc. References readOption(), and readOptions(). Referenced by init().

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Member Data Documentation

Int RS::WorldFacts::SP_num_lines

Number of lines in the field. Usually four. =) Definition at line 297 of file WorldFacts.h.

Int RS::WorldFacts::SP_num_markers

Number of markers in the field. A lot, see manual for positions. The markers as MarkerObjects can be received using this class getMarker method. Definition at line 302 of file WorldFacts.h.

Float RS::WorldFacts::SP_unum_far_length

The maximum distance when we always see a players uniformnumber. The chance of seeing a number decrease linear between unum_far_length and unum_too_far_length. Definition at line 317 of file WorldFacts.h.

Float RS::WorldFacts::SP_unum_too_far_length

The maximum distance when we have a chance to see a uniformnumber. The chance of seeing a number decrease linear between unum_far_length and unum_too_far_length. Definition at line 322 of file WorldFacts.h.

Float RS::WorldFacts::SP_team_far_length

The maximum distance when we always see a players team. The chance of seeing the team decrease linear between team_far_length and team_too_far_length. Definition at line 327 of file WorldFacts.h.

Float RS::WorldFacts::SP_team_too_far_length

The maximum distance when we have a chance to see a players team. The chance of seeing the team decrease linear between team_far_length and team_too_far_length. Definition at line 332 of file WorldFacts.h.

Float RS::WorldFacts::SP_free_kick_margin

Distance between opponent and ball when a freekick is taken. See SP_cornerkick_margin, and SP_offside_kick_margin for values in those situations. Definition at line 397 of file WorldFacts.h.

Float RS::WorldFacts::SP_inertia_moment

Inertia moment for a player. This affects the turning angle depending on speed. Definition at line 446 of file WorldFacts.h. Referenced by RS::AgentObject::getAngleForTurn(), serverParamsInitialized(), and RS::BasicCommandStrategy::updateAfterCommand().

Float RS::WorldFacts::SP_feel_distance

The maximum distance where the agent can feel the ball or players. If other players or the ball is inside this feel circle, the agent recives visual information about them although his not looking in the objects direction. Definition at line 452 of file WorldFacts.h.

Float RS::WorldFacts::SP_dash_power_rate

Is multiplied to the actual dashpower to get the players acceleration. See the manual for more information about how the player accelerates when dashing. Definition at line 457 of file WorldFacts.h. Referenced by RS::AgentObject::getPowerForDashToAbsolutePosition(), serverParamsInitialized(), and RS::BasicCommandStrategy::updateAfterCommand().

Int RS::WorldFacts::SP_hear_max

The maximum hearing capacity for a player. The player can hear hear_inc messages in hear_decay cycles. Definition at line 470 of file WorldFacts.h.

Int RS::WorldFacts::SP_catch_ban_cycle

Cycles after a catch in which the goalie cannot catch again. Time for goalie to stand up and prepare for a new safe, that is. Definition at line 576 of file WorldFacts.h.

Float RS::WorldFacts::SP_wind_rand

The size of random error in wind force (I think). Server code says: wind force for force. Definition at line 622 of file WorldFacts.h.

Float RS::WorldFacts::SP_wind_ang

The random error in wind direction. Server code says: wind angle for rand. Definition at line 626 of file WorldFacts.h.

bool RS::WorldFacts::SP_wind_random

If there is a random component in the wind. See parameters above. Definition at line 632 of file WorldFacts.h.

Float RS::WorldFacts::SP_kickable_margin

Margin around player in which the ball is kickable. The ball is kickable if the distance is less then kickable_margin + ball_size + player_size. Definition at line 640 of file WorldFacts.h. Referenced by RS::generate_kickable_ball_vector(), RS::KickBallCloseToBody::generateStep(), RS::KickBallView::kickPowerRate(), serverParamsInitialized(), and RS::BasicCommandStrategy::updateAfterCommand().

Float RS::WorldFacts::SP_kickable_area

The area in which the ball is kickable. kickable_margin + ball_size + player_size. Definition at line 644 of file WorldFacts.h. Referenced by RS::KickBallView::canShootToSpeedVector(), RS::BallView::isBallKickable(), RS::PassView::markedEval(), and RS::BasicCommandStrategy::updateAfterCommand().

Float RS::WorldFacts::SP_kick_power_rate

Is multiplied to the actual kickpower to get the balls acceleration. See the manual for more information about how the ball is accelerated by kicking Definition at line 649 of file WorldFacts.h. Referenced by RS::KickBallView::kickPowerRate(), and RS::BasicCommandStrategy::updateAfterCommand().

Float RS::WorldFacts::SP_control_radius

Ball control radius, used to be used when calculating the kick power. I think this its deprecated, use kickable_margin instead. Definition at line 662 of file WorldFacts.h.

Float RS::WorldFacts::SP_control_radius_width

This is actually control_radius - player_size. I think this its deprecated, use kickable_margin instead. Definition at line 666 of file WorldFacts.h.

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

• WorldFacts.h
• WorldFacts.cc
• WorldFacts.icc

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