Modules/BehaviorControl/CommonXabsl2Symbols/PlayersSymbols.cpp

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/** 
* @file PlayerSymbols.cpp
*
* Implementation of class PlayerSymbols.
*
* @author Marc Dassler
*/

#include "PlayersSymbols.h"
#include "Representations/WLan/BehaviorTeamMessage.h"

PlayersSymbols::PlayersSymbols(const BehaviorControlInterfaces& interfaces)
: BehaviorControlInterfaces(interfaces)
{
}


void PlayersSymbols::registerSymbols(Xabsl2Engine& engine)
{

  engine.registerDecimalInputSymbol("players.angle-to-own-detected-player",this,
    (double (Xabsl2FunctionProvider::*)())&PlayersSymbols::getAngleToOwnDetectedPlayer);

  engine.registerDecimalInputSymbol("players.time-since-detected-own-player",this,
    (double (Xabsl2FunctionProvider::*)())&PlayersSymbols::getTimeSinceDetectedOwnPlayer);

  engine.registerDecimalInputSymbol("players.free-space-around-robot",this,
    (double (Xabsl2FunctionProvider::*)())&PlayersSymbols::getFreeSpaceAroundRobot);

  engine.registerDecimalInputSymbol("players.distance-to-opp-player-ahead",this,
    (double (Xabsl2FunctionProvider::*)())&PlayersSymbols::getDistanceToOppInSectorAhead);

  engine.registerDecimalInputSymbol("players.distance-to-opp-player-behind",this,
    (double (Xabsl2FunctionProvider::*)())&PlayersSymbols::getDistanceToOppInSectorBehind);

  engine.registerDecimalInputSymbol("players.distance-to-opp-player-left",this,
    (double (Xabsl2FunctionProvider::*)())&PlayersSymbols::getDistanceToOppInSectorLeft);

  engine.registerDecimalInputSymbol("players.distance-to-opp-player-right",this,
    (double (Xabsl2FunctionProvider::*)())&PlayersSymbols::getDistanceToOppInSectorRight);



}

void PlayersSymbols::update()
{
}



double PlayersSymbols::getAngleToOwnDetectedPlayer()
{
  return toDegrees(Geometry::angleTo(robotPose,playersModel.positionOfOwnPlayerAhead));
}

double PlayersSymbols::getTimeSinceDetectedOwnPlayer()
{
  return (double)SystemCall::getTimeSince(playersModel.timeStampToSeenOwnPlayerAhead);
}

double PlayersSymbols::getFreeSpaceAroundRobot()
{
  return playersModel.freeSpaceAroundRobot;
}
double PlayersSymbols::getDistanceToOppInSectorAhead()
{
  return playersModel.distanceToOppInSectorAhead;
}
double PlayersSymbols::getDistanceToOppInSectorBehind()
{
  return playersModel.distanceToOppInSectorBehind;
}
double PlayersSymbols::getDistanceToOppInSectorLeft()
{
  return playersModel.distanceToOppInSectorLeft;
}
double PlayersSymbols::getDistanceToOppInSectorRight()
{
  return playersModel.distanceToOppInSectorRight;
}

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