Modules/BehaviorControl/CommonXabsl2Symbols/BallSymbols.h

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/** 
* @file BallSymbols.h
*
* Declaration of class BallSymbols.
*
* @author Martin Lötzsch
*/

#ifndef __BallSymbols_h_
#define __BallSymbols_h_

#include "../BehaviorControl.h"
#include "Tools/Xabsl2/Xabsl2Engine/Xabsl2Engine.h"
#include "Tools/RingBufferWithSum.h"

/**
* The Xabsl2 symbols that are defined in "ball-symbols.xml"
*
* @author Martin Lötzsch
*/ 
class BallSymbols : public Xabsl2FunctionProvider, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param interfaces The paramters of the BehaviorControl module.
  */
  BallSymbols(const BehaviorControlInterfaces& interfaces);
  
  /** registers the symbols at an engine */
  void registerSymbols(Xabsl2Engine& engine);
  
    /** updates the symbols */
  void update();

  //!@name Input symbols
  //!@{
  double getNumberOfImagesWithBallPercept(); /*!< A function for the symbol "ball.number-of-images-with-ball-percept" */
  double getNumberOfImagesWithoutBallPercept(); /*!< A function for the symbol "ball.number-of-images-without-ball-percept" */
  double getSeenDistance(); /*!< A function for the symbol "ball.seen.distance" */
  double getSeenAngle(); /*!< A function for the symbol "ball.seen.angle" */
  double getSeenSpeed(); /*!< A function for the symbol "ball.seen.speed" */
  double getSeenRelativeSpeedX(); /*!< A function for the symbol "ball.seen.relative-speed.x" */
  double getSeenRelativeSpeedY(); /*!< A function for the symbol "ball.seen.relative-speed.y" */
  double getSeenDistanceX(); /*!< A function for the symbol "ball.seen.distance-x" */
  double getSeenDistanceY(); /*!< A function for the symbol "ball.seen.distance-y" */
  double getProjectedDistanceOnYAxis(); /*!< A function for the symbol "ball.projectedDistanceOnYAxis" */
  double getTimeUntilBallCrossesYAxis(); /*!< A function for the symbol "ball.timeBallCrossesYAxis" */
  double getDistanceSeenBallToOwnPenaltyArea(); /*!< A function for the symbol "ball.seen.distance-to-own-penalty-area" */
  double getTimeSinceLastSeen(); /*!< A function for the symbol "ball.time-since-last-seen" */
  double getConsecutivelySeenTime(); /*!< A function for the symbol "ball.consecutively-seen-time" */
  double getTimeSinceLastSeenConsecutively(); /*!< A function for the symbol "ball.time-since-last-seen-consecutively" */
  bool getBallSeenInFrontOfOpponentGoal(); /*!< A function for the symbol "ball.seen.ball-in-front-of-opponent-goal */
  bool getJustSeen(); /*!< A function for the symbol "ball.just-seen" */
  double getKnownDistance(); /*!< A function for the symbol "ball.known.distance" */
  double getKnownAngle(); /*!< A function for the symbol "ball.known.angle" */
  double getKnownX(); /*!< A function for the symbol "ball.known.x" */
  double getKnownY(); /*!< A function for the symbol "ball.known.y" */
  double getHypotheticalDistance(); /*!< A function for the symbol "ball.hypothetical.distance" */
  double getHypotheticalAngle(); /*!< A function for the symbol "ball.hypothetical.angle" */
  double getTimeSinceLastKnown(); /*!< A function for the symbol "ball.time-since-last-known" */
  double getTimeAfterWhichCommunicatedBallAreAccepted(); /*!< A function for the symbol "ball.time-after-which-communicated-balls-are-accepted" */
  double getPositionValidity(); /*!< A function for the symbol "ball.seen.positionValidity" */
  double getSpeedValidity(); /*!< A function for the symbol "ball.seen.speedValidity" */
  double getAngleToOpponentGoal(); /*!< calculates the value for the symbol "ball.angle-to-opponent-goal" */
  double getSeenDistanceToBorder(); /*!< calculates the value for the symbol "ball.seen.distance-to-border" */
  double getSeenPositionValidity();
  double getSeenVelocityValidity();
  double getPropagatedPositionValidity();
  double getPropagatedVelocityValidity();
  double getPropagatedDistance();
  double getPropagatedAngle();
  double getPropagatedX();
  double getPropagatedY();
  double getPropagatedRelativeX();
  double getPropagatedRelativeY();
  double getTimeAfterWhichPropagatedAreUsed();
  double getMaxDistanceToUseSeen();
  double getPropagatedSpeedX();
  double getPropagatedSpeedY();
  double getPropagatedRelativeSpeedX();
  double getPropagatedRelativeSpeedY();
  double getSeenSpeedX();
  double getSeenSpeedY();
  double getKnownOrNearDistance();
  double getKnownOrNearX();
  double getKnownOrNearY();
  double getKnownOrNearRelativeX();
  double getKnownOrNearRelativeY();
  double getKnownOrNearSpeedX();
  double getKnownOrNearSpeedY();
  double getKnownOrNearSpeedAbs();
  double getKnownOrNearProbability();
  double getKnownOrNearRelativeSpeedX();
  double getKnownOrNearRelativeSpeedY();
  double getKnownOrNearAngle();
  double getSeenRelativeX();
  double getSeenRelativeY();
  double getKnownOrNearAngleToOwnGoal();
  double getKnownOrNearDistanceToOwnPenaltyArea();
  double getBallInterceptionPointX(); /*!< A function for the symbol "ball.interceptionPoint.x" */
  double getBallInterceptionPointY(); /*!< A function for the symbol "ball.interceptionPoint.x" */
  bool getBallCanBeIntercepted(); /*!< A function for the symbol "ball.ballCanBeIntercepted" */
  //!@}


  /** The average distane to the ball */
  double averageDistance;

private:
  /** A ring buffer needed to calculate the average ball distance */
  RingBufferWithSum<60> ballDistanceRingBuffer;

  bool playBallPrecisely;

  int ballPrecision;

  /* needed for interception of the ball */
  bool ballCanBeIntercepted;
  bool interceptionAlreadyCalculated;
  Vector2<double> interceptionPoint;

  void calculateInterceptionPoint();
};


#endif // __BallSymbols_h_

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