Representations/Perception/MSHSinglePlayerPercept.h

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/**
 * @file PlayersPercept.h
 * 
 * Declaration of class MSHSinglePlayerPercept
 * @author Tobias Wegner
 */ 

#ifndef __MSHSinglePlayerPercept_h_
#define __MSHSinglePlayerPercept_h_

#include "PlayersPercept.h"

class MSHPPF
{
public:
  static const unsigned int clear       = 0x00000000;
  static const unsigned int outOfField      = 0x00000001;
  static const unsigned int wrongSize     = 0x00000002;
  static const unsigned int fewTrickot      = 0x00000004; //not used
  static const unsigned int tooMuchWhite    = 0x00000008; //
  static const unsigned int tooMuchGreen    = 0x00000010;
  static const unsigned int tooMuchSkyBlue    = 0x00000011; //
  static const unsigned int tooMuchOrange   = 0x00000012; //
  static const unsigned int fewBrightnessChange = 0x00000014; //
  static const unsigned int numOfFlags      = 8;
};

class MSHSinglePlayerPercept : public SinglePlayerPercept
{
public:
  MSHSinglePlayerPercept () { flags = MSHPPF::clear; };

  /** number of scanlines hit */
  int lines;

  /** Some flags */
  unsigned int flags;

  double getValidity ()
  {
    int flagCount = 0;
    int flagCopy = flags;

    //count bits in flags
    for (int i = 0; i < 32; i++)
    {
      if (flagCopy & 0x00000001)
        flagCount++;

      flagCopy >>= 1;
    };

    double weight;

    if ((MSHPPF::numOfFlags - flagCount) != 0)
      weight = (MSHPPF::numOfFlags / (MSHPPF::numOfFlags - flagCount));
    else weight = 0;

    return validity * weight;
  };
};

#endif

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