Modules/PlayersLocator/GTCamPlayersLocator.cpp

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/**
* @file GTCamPlayersLocator.cpp
* 
* This file contains a class for players localization using the worldstate of the GTCam.
*
* @author <a href="mailto:timo.diekmann@uni-dortmund.de">Timo Diekmann</a>
*/

/*
GTCamPlayersLocator:

The GTCam solution for the module PlayersLocator uses the position of the three teammates and the four opponents of the GTCamWorldState to fill the playerPoseCollection.

These attributes of playerPoseCollection are calculated:
  - ownPlayerPoses[], opponentPlayerPoses[]: for every PlayerPose these attributes are calculated
    - frameNumber: 
    - pose
      - rotation: set to the rotation calculated by GTCam for this player
      - translation: set to the translation calculated by GTCam for this player
    - validity: set to 1.0
    - playerNumber: the number of the player
    - sigmaMin: set to 0.0
    - sigmaMaj: set to 0.0
    - cosAngle: set to 1.0
    - sinAngle: set to 0.0
    - speed: set to the speed of the player

These attributes of playerPoseCollection are set once in the constructor of GTCamPlayersLocator:
  - numberOfOwnPlayers: set to 3
  - numberOfOpponentPlayers: set to 4

Proceeding:
  For all teammates and opponents the positions and orientations are read out of the GTCamWorldState and written into playerPoseCollection.
*/

#include "GTCamPlayersLocator.h"
#include "Tools/Player.h"

GTCamPlayersLocator::GTCamPlayersLocator(const PlayersLocatorInterfaces& interfaces)
: PlayersLocator(interfaces)
{
  playerPoseCollection.numberOfOwnPlayers = NUMBER_OF_OWN_PLAYERS_TO_LOCATE;
  playerPoseCollection.numberOfOpponentPlayers = NUMBER_OF_OPPONENT_PLAYERS_TO_LOCATE;
}

void GTCamPlayersLocator::execute() // speed of robots and other atributes are not set yet!
{
  int me = getPlayer().getPlayerNumber();
  int color = getPlayer().getTeamColor();
  int oppColor = (color == Player::red ? Player::blue : Player::blue);
  Vector2<double> pos;
  for (int i = 0; i < NUMBER_OF_OPPONENT_PLAYERS_TO_LOCATE; i++) {
    Vector2<double> speed;
    double speed_abs;
    if (i != me) {
      pos = gtCamWorldState.getPlayerPos(i, color);
      playerPoseCollection.setOwnPlayerPose
        (i>me?i-1:i, pos.x, pos.y, gtCamWorldState.getPlayerOrientation(i, color), 1.0);
      PlayerPose& playerPose = const_cast<PlayerPose&>(playerPoseCollection.getOwnPlayerPose(i>me?i-1:i));
      playerPose.setPlayerNumber((Player::playerNumber)i);
      playerPose.setSigmaMin(0.0);
      playerPose.setSigmaMaj(0.0);
      playerPose.setSinAngle(0.0);
      playerPose.setCosAngle(1.0);
      speed = gtCamWorldState.getPlayerSpeed(i, color);
      speed_abs = sqrt(speed.x*speed.x+speed.y*speed.y);
      playerPose.setSpeed(speed_abs);
    }
    pos = gtCamWorldState.getPlayerPos(i, oppColor);
    playerPoseCollection.setOpponentPlayerPose
      (i, pos.x, pos.y, gtCamWorldState.getPlayerOrientation(i, oppColor), 1.0);
    PlayerPose& playerPose = const_cast<PlayerPose&>(playerPoseCollection.getOpponentPlayerPose(i));
    playerPose.setPlayerNumber((Player::playerNumber)i);
    playerPose.setSigmaMin(0.0);
    playerPose.setSigmaMaj(0.0);
    playerPose.setSinAngle(0.0);
    playerPose.setCosAngle(1.0);
    speed = gtCamWorldState.getPlayerSpeed(i, oppColor);
    speed_abs = sqrt(speed.x*speed.x+speed.y*speed.y);
    playerPose.setSpeed(speed_abs);
  }
}

bool GTCamPlayersLocator::handleMessage(InMessage& message) {
  return false;
}

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