Representations/Cognition/PassCorridorCollection.cpp

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/**
 * @file PassCorridorCollection.cpp
 *
 * Implementation of class PassCorridorCollection.
 */

#include "PassCorridorCollection.h"
#include "Tools/Math/Common.h"
#include "Tools/FieldDimensions.h"

void PassCorridor::reset()
{
  openingAngle = pi/3;
  distance = 2 * xPosOpponentGroundline;
  distanceToOppPlayer = distance;
  rate = 0.0;

};

In& operator>>(In& stream,PassCorridor& passCorridor)
{
  stream.read(&passCorridor,sizeof(PassCorridor));
  return stream;
}

Out& operator<<(Out& stream, const PassCorridor& passCorridor)
{
  stream.write(&passCorridor,sizeof(PassCorridor));
  return stream;
}

PassCorridorCollection::PassCorridorCollection()
{
  reset();
  maxPassCorridorRate = 6.5;
}

void PassCorridorCollection::reset()
{
  bestPassCorridorIndex = -1;
  numberOfPassCorridors = 0;
  for (int i=0;i<4;i++) 
    passCorridors[i].reset();
};

bool PassCorridorCollection::findBestPassCorridor()
{
  double rate = -100.0;
  int best = -1;
  for (int i=0;i < numberOfPassCorridors;i++)
  {
    passCorridors[i].rate = passCorridors[i].rateDistanceToPartner 
                          + passCorridors[i].rateDistanceWin * 3
                          + passCorridors[i].rateDistanceBorderLine * 0.5
                          + passCorridors[i].rateWidthOfCorridor
                          + passCorridors[i].rateAngleToPartner;
    if (passCorridors[i].rate > rate)
    {
      best = i;
      rate = passCorridors[i].rate;
    }
  }
  if (best != -1)
  {
    bestPassCorridorIndex = best;
    bestPassCorridor = &passCorridors[best];
    return true;
  }
  else
  {
    bestPassCorridorIndex = -1;
    bestPassCorridor = NULL;  
    return false;
  }
}

const double PassCorridorCollection::getBestPassCorridorQuality() const
{
  if (bestPassCorridorIndex != -1)
    return passCorridors[bestPassCorridorIndex].rate / maxPassCorridorRate;
  else
    return 0.0;
}

In& operator>>(In& stream,PassCorridorCollection& passCorridorCollection)
{
  stream >> passCorridorCollection.numberOfPassCorridors;
  for (int i=0;i<passCorridorCollection.numberOfPassCorridors;i++)
    stream.read(&passCorridorCollection.passCorridors[i],sizeof(PassCorridor));
  return stream;
};

Out& operator<<(Out& stream, const PassCorridorCollection& passCorridorCollection)
{
  stream << passCorridorCollection.numberOfPassCorridors;
  for (int i=0;i<passCorridorCollection.numberOfPassCorridors;i++)
    stream.write(&passCorridorCollection.passCorridors[i],sizeof(PassCorridor));
  return stream;
};

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