Representations/Cognition/PassCorridorCollection.h

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/**
 * @file PassCorridorCollection.h
 *
 * The file contains the definition of the class PassCorridorCollection.
 *
 * @author <A href=mailto:marc.dassler@web.de>Marc Dassler</A>
 */

#ifndef __PassCorridorCollection_h_
#define __PassCorridorCollection_h_

#include "Tools/Streams/InOut.h"
#include "Tools/Player.h"

/**
 * @class PassCorridor
 */
class PassCorridor
{
 
  public:
    /**
     * Constructor.
     */
    PassCorridor() {}

    void reset();    

    /**
     * Index of the Player to whom the pass corridor belongs
     */
    int playerPoseIndex;

    Player::playerNumber playerNumber;

    /**
     * Opening Angle of the Corridor. In this area is non opponent player
     * This name is missleading. The real opening angle is double the size 
     * of this one.
     */
    double openingAngle;
    
    /**
     * Distance to the player
     */
    double distance;

    /** 
     * Orthogonal distance of the pass way to the nearst opponent player
     */
    double distanceToOppPlayer;

    /** 
     * Rate of the pass
     */
    double rate;
    double rateDistanceToPartner,
      rateDistanceWin,
      rateDistanceBorderLine,
      rateWidthOfCorridor,
      rateAngleToPartner;
};

/**
 * Streaming operator that reads a pass corridor from a stream.
 * @param stream The stream from which is read.
 * @param passCorridor The pass corridor object.
 * @return The stream.
 */ 
In& operator>>(In& stream,PassCorridor& passCorridor);

 
/**
 * Streaming operator that writes a pass corridor to a stream.
 * @param stream The stream to write on.
 * @param passCorridor The pass corridor object.
 * @return The stream.
 */ 
Out& operator<<(Out& stream, const PassCorridor& passCorridor);

/**
 * @class PassCorridorCollection
 */
class PassCorridorCollection
{
  public:
    /**
     * Constructor
     */
    PassCorridorCollection();

    /**
     * Reset all pass corridors
     */
    void reset();

    /**
     * Finds the best pass corridor
     * @return found or not found
     */
    bool findBestPassCorridor();

    /**
     * Number of inhabited pass corridors
     */
    int numberOfPassCorridors;

    /**
     * The index of the best pass corridor
     */
    int bestPassCorridorIndex;

    /**
     * Returns Quality of the best pass corridor
     */
    const double getBestPassCorridorQuality() const;

    PassCorridor* bestPassCorridor; 
    /**
     * The corridors
     */
    PassCorridor passCorridors[4];

    /**
     * This var should be a constant
     */
    double maxPassCorridorRate;
};
/**
 * Streaming operator that reads a pass corridor collection from a stream.
 * @param stream The stream from which is read.
 * @param passCorridorCollection The pass corridor object.
 * @return The stream.
 */ 
In& operator>>(In& stream,PassCorridorCollection& passCorridorCollection);
/**
 * Streaming operator that writes a pass corridor collection to a stream.
 * @param stream The stream to write on.
 * @param passCorridorCollection The pass corridor object.
 * @return The stream.
 */ 
Out& operator<<(Out& stream, const PassCorridorCollection& passCorridorCollection);
#endif //__PassCorridorCollection_h_

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