BallModel Class Reference

Contains the modeled knowledge about the ball. More...

#include <BallModel.h>

Inheritance diagram for BallModel:

[legend]Collaboration diagram for BallModel:

[legend]List of all members.

Public Types
enum	{   behaviorControlTimeAfterWhichCommunicatedBallsAreAccepted = 2000, timeAfterWhichPropagatedAreUsed = 100, maxDistanceToUseSeen = 500,   minDistanceToUseSeen = 150 }
	The time for the behaviorControl after that communicated ball positions are accepted. More...
Public Member Functions
	BallModel ()
	Constructor.
void	reset ()
	Resets the ball model.
void	setFrameNumber (unsigned long frameNumber)
	Sets the frame number of the image this model was created from.
const Vector2< double > &	getKnownPosition (unsigned long timeAfterWhichCommunicatedBallsAreAccepted) const
	Returns a "known" ball position relative to the field.
const Vector2< double > &	getKnownPosition (unsigned long timeAfterWhichCommunicatedBallsAreAccepted, unsigned long timeAfterWhichPropagatedAreUsed, double maxDistanceToUseSeen, double minDistanceToUseSeen) const
const BallState &	getKnownBallState (unsigned long timeAfterWhichCommunicatedBallsAreAccepted=behaviorControlTimeAfterWhichCommunicatedBallsAreAccepted, unsigned long timeAfterPropagatedAreUsed=timeAfterWhichPropagatedAreUsed, double maxDistanceUseSeen=maxDistanceToUseSeen, double minDistanceUseSeen=minDistanceToUseSeen) const
unsigned long	getTimeSinceLastKnown (unsigned long timeAfterWhichCommunicatedBallsAreAccepted) const
	Returns the time since the ball was seen or communicated.
virtual void	serialize (In *in, Out *out)
Public Attributes
unsigned long	frameNumber
	The frame number of the image this model was created from.
int	numberOfImagesWithoutBallPercept
	The number of consecutive images without ball percept.
int	numberOfImagesWithBallPercept
	The number of consecutive images with ball percept.
bool	ballWasSeen
	True if the ball was seen (a ball percept exists).
SeenBallState	seen
	The state of the ball estimated from own observations.
PropagatedBallState	propagated
	The state of the ball estimated from own observations; it is propagated even if the ball is not seen.
CommunicatedBallState	communicated
	The state of the ball estimated from own observations and from observation of other players.
HypotheticalBallState	hypothetical
	The state of the ball guessed from own negative information after ball was lost.

---

Detailed Description

Contains the modeled knowledge about the ball.

Definition at line 576 of file BallModel.h.

---

Member Enumeration Documentation

anonymous enum

The time for the behaviorControl after that communicated ball positions are accepted. Enumeration values: behaviorControlTimeAfterWhichCommunicatedBallsAreAccepted  timeAfterWhichPropagatedAreUsed  maxDistanceToUseSeen  minDistanceToUseSeen  Definition at line 583 of file BallModel.h.

---

Constructor & Destructor Documentation

BallModel::BallModel (   )

Constructor. Definition at line 588 of file BallModel.cpp. References reset().

Here is the call graph for this function:

---

Member Function Documentation

void BallModel::reset (   )

Resets the ball model. Definition at line 593 of file BallModel.cpp. References ballWasSeen, communicated, hypothetical, numberOfImagesWithBallPercept, numberOfImagesWithoutBallPercept, propagated, BallState::reset(), CommunicatedBallState::reset(), PropagatedBallState::reset(), SeenBallState::reset(), and seen. Referenced by BallModel().

Here is the call graph for this function:

void BallModel::setFrameNumber (  unsigned long  frameNumber  )

Sets the frame number of the image this model was created from. Parameters: frameNumber  The frame number. Definition at line 606 of file BallModel.cpp. Referenced by LogPlayer::saveSynchronized().

const Vector2< double > & BallModel::getKnownPosition (  unsigned long  timeAfterWhichCommunicatedBallsAreAccepted  )  const

Returns a "known" ball position relative to the field. If the ball was seen, the seen ball position is used. If the ball was not seen for a timeAfterThatCommunicatedBallsAreAccepted, the communicatedBallPosition is returned, if there was received a ball position. Parameters: timeAfterWhichCommunicatedBallsAreAccepted  The time after that the communicated position is returned Definition at line 611 of file BallModel.cpp. References communicated, SystemCall::getTimeSince(), BallState::positionField, seen, CommunicatedBallState::timeWhenLastObserved, and SeenBallState::timeWhenLastSeen. Referenced by GT2005StrategySymbols::estimateTimeToReachBall(), GT2005BasicBehaviorGoalieReturnToGoal::execute(), GT2005BasicBehaviorGoaliePosition::execute(), GT2005BasicBehaviorGoToBallWithoutTurning::execute(), GT2005BasicBehaviorGoToBall::execute(), GT2005BasicBehaviorNewGoToBall::execute(), GT2005PotentialFieldBasicBehaviorOffensiveSupport::execute(), PassSymbols::getAngleToPassSender(), BallSymbols::getKnownAngle(), BallSymbols::getKnownOrNearAngle(), BallSymbols::getKnownOrNearX(), BallSymbols::getKnownOrNearY(), BallSymbols::getKnownX(), BallSymbols::getKnownY(), KickLoggerSymbols::getPropagatedRelativeX(), OpenChallengeSymbols::guideDogMoveForward(), OpenChallengeSymbols::guideDogTellsBlindDogTurn(), and GTStandardConverter::setData().

Here is the call graph for this function:

const Vector2< double > & BallModel::getKnownPosition (  unsigned long  timeAfterWhichCommunicatedBallsAreAccepted, unsigned long  timeAfterWhichPropagatedAreUsed, double  maxDistanceToUseSeen, double  minDistanceToUseSeen )  const

Definition at line 634 of file BallModel.cpp. References Vector2< double >::abs(), communicated, BallState::getPositionValidity(), SystemCall::getTimeSince(), idText, INFO, BallState::positionField, BallState::positionRobot, propagated, seen, CommunicatedBallState::timeWhenLastObserved, and SeenBallState::timeWhenLastSeen.

Here is the call graph for this function:

const BallState & BallModel::getKnownBallState (  unsigned long  timeAfterWhichCommunicatedBallsAreAccepted = behaviorControlTimeAfterWhichCommunicatedBallsAreAccepted, unsigned long  timeAfterPropagatedAreUsed = timeAfterWhichPropagatedAreUsed, double  maxDistanceUseSeen = maxDistanceToUseSeen, double  minDistanceUseSeen = minDistanceToUseSeen )  const

Definition at line 684 of file BallModel.cpp. References Vector2< double >::abs(), communicated, BallState::getPositionValidity(), SystemCall::getTimeSince(), BallState::positionRobot, propagated, seen, CommunicatedBallState::timeWhenLastObserved, and SeenBallState::timeWhenLastSeen. Referenced by BallSymbols::calculateInterceptionPoint(), GT2005StrategySymbols::computeRole(), BallSymbols::getAngleToOpponentGoal(), BallSymbols::getBallSeenInFrontOfOpponentGoal(), BallSymbols::getKnownDistance(), BallSymbols::getKnownOrNearAngleToOwnGoal(), BallSymbols::getKnownOrNearDistance(), BallSymbols::getKnownOrNearDistanceToOwnPenaltyArea(), BallSymbols::getKnownOrNearProbability(), BallSymbols::getKnownOrNearRelativeSpeedX(), BallSymbols::getKnownOrNearRelativeSpeedY(), BallSymbols::getKnownOrNearRelativeX(), BallSymbols::getKnownOrNearRelativeY(), BallSymbols::getKnownOrNearSpeedAbs(), BallSymbols::getKnownOrNearSpeedX(), BallSymbols::getKnownOrNearSpeedY(), and OpenChallengeSymbols::guideDogMoveForward().

Here is the call graph for this function:

unsigned long BallModel::getTimeSinceLastKnown (  unsigned long  timeAfterWhichCommunicatedBallsAreAccepted  )  const

Returns the time since the ball was seen or communicated. Parameters: timeAfterWhichCommunicatedBallsAreAccepted  as in getKnownPosition() Definition at line 729 of file BallModel.cpp. References communicated, SystemCall::getTimeSince(), min, seen, CommunicatedBallState::timeWhenLastObserved, and SeenBallState::timeWhenLastSeen. Referenced by GT2005StrategySymbols::estimateTimeToReachBall(), BallSymbols::getTimeSinceLastKnown(), and GTStandardConverter::setData().

Here is the call graph for this function:

virtual void BallModel::serialize (  In *  in, Out *  out )  [inline, virtual]

Implements Streamable. Definition at line 675 of file BallModel.h. References ballWasSeen, communicated, hypothetical, numberOfImagesWithBallPercept, numberOfImagesWithoutBallPercept, propagated, seen, STREAM, STREAM_REGISTER_BEGIN, and STREAM_REGISTER_FINISH.

---

Member Data Documentation

unsigned long BallModel::frameNumber

The frame number of the image this model was created from. Definition at line 641 of file BallModel.h. Referenced by GTCamBallLocator::execute().

int BallModel::numberOfImagesWithoutBallPercept

The number of consecutive images without ball percept. Definition at line 644 of file BallModel.h. Referenced by BallSymbols::getNumberOfImagesWithoutBallPercept(), GTCamBallLocator::GTCamBallLocator(), reset(), serialize(), and GT2005BallLocator::setBallSymbols().

int BallModel::numberOfImagesWithBallPercept

The number of consecutive images with ball percept. Definition at line 647 of file BallModel.h. Referenced by GTCamBallLocator::execute(), BallSymbols::getNumberOfImagesWithBallPercept(), GTCamBallLocator::GTCamBallLocator(), reset(), serialize(), and GT2005BallLocator::setBallSymbols().

bool BallModel::ballWasSeen

True if the ball was seen (a ball percept exists). Definition at line 650 of file BallModel.h. Referenced by GTCamBallLocator::execute(), GTCamWorldState::getBallModel(), GTCamBallLocator::GTCamBallLocator(), OpenChallengeSymbols::guideDogMoveForward(), GT2005BehaviorControl::postExecute(), GT2005BehaviorControl::preExecute(), CLogAnalyzerBase::readRemoteCamWorldState(), BallSymbols::registerSymbols(), reset(), serialize(), GT2005BallLocator::setBallSymbols(), and KickLoggerSymbols::update().

SeenBallState BallModel::seen

The state of the ball estimated from own observations. Definition at line 653 of file BallModel.h. Referenced by GT2005ObstaclesLocator::addPSDPercept(), KickLoggerSymbols::ballHasStopped(), GT2005StrategySymbols::computeRole(), GT2005StrategySymbols::estimateTimeToReachBall(), KickLogger::execute(), GT2005BasicBehaviorGoalieReturnToGoal::execute(), GTCamBallLocator::execute(), KickLoggerSymbols::generateWalktoTarget(), GT2005HeadControlSymbols::getBallConsecutivelySeenTime(), GTCamWorldState::getBallModel(), GT2005HeadControlSymbols::getBallSpeedAbs(), GTCamSymbols::getBallSpeedX(), GTCamSymbols::getBallSpeedY(), GT2005HeadControlSymbols::getBallTimeSinceLastSeen(), KickLogger::getBallX(), GTCamSymbols::getBallX(), KickLogger::getBallY(), GTCamSymbols::getBallY(), BallSymbols::getConsecutivelySeenTime(), BallSymbols::getDistanceSeenBallToOwnPenaltyArea(), GT2005StrategySymbols::getGoalieMaxPositionSpeed(), BallSymbols::getJustSeen(), getKnownBallState(), getKnownPosition(), BallSymbols::getPositionValidity(), BallSymbols::getProjectedDistanceOnYAxis(), GT2005HeadControlSymbols::getRelativeBallSpeedX(), GT2005HeadControlSymbols::getRelativeBallSpeedY(), BallSymbols::getSeenAngle(), GT2005HeadControlSymbols::getSeenDistance(), BallSymbols::getSeenDistance(), BallSymbols::getSeenDistanceToBorder(), BallSymbols::getSeenDistanceX(), BallSymbols::getSeenDistanceY(), BallSymbols::getSeenPositionValidity(), BallSymbols::getSeenRelativeSpeedX(), BallSymbols::getSeenRelativeSpeedY(), BallSymbols::getSeenRelativeX(), BallSymbols::getSeenRelativeY(), BallSymbols::getSeenSpeed(), BallSymbols::getSeenSpeedX(), BallSymbols::getSeenSpeedY(), BallSymbols::getSeenVelocityValidity(), BallSymbols::getSpeedValidity(), getTimeSinceLastKnown(), BallSymbols::getTimeSinceLastSeen(), GT2005HeadControlSymbols::getTimeSinceLastSeenConsecutively(), BallSymbols::getTimeSinceLastSeenConsecutively(), BallSymbols::getTimeUntilBallCrossesYAxis(), GT2005BallLocator::GT2005BallLocator(), KickSelectionSymbols::intentionalKickPossible(), GT2005BehaviorControl::postExecute(), GT2005BehaviorControl::preExecute(), CLogAnalyzerBase::readRemoteCamWorldState(), BallSymbols::registerSymbols(), reset(), KickSelectionSymbols::retrieveKick(), LogPlayer::saveSynchronized(), serialize(), GT2005BallLocator::setBallSymbols(), GTStandardConverter::setData(), KickLoggerSymbols::update(), ObstaclesSymbols::update(), and BallSymbols::update().

PropagatedBallState BallModel::propagated

The state of the ball estimated from own observations; it is propagated even if the ball is not seen. Definition at line 659 of file BallModel.h. Referenced by KickLoggerSymbols::doExecute(), GT2005BasicBehaviorGoToBallPropagated::execute(), GTCamBallLocator::execute(), getKnownBallState(), getKnownPosition(), BallSymbols::getPropagatedAngle(), BallSymbols::getPropagatedDistance(), BallSymbols::getPropagatedPositionValidity(), BallSymbols::getPropagatedRelativeSpeedX(), BallSymbols::getPropagatedRelativeSpeedY(), BallSymbols::getPropagatedRelativeX(), BallSymbols::getPropagatedRelativeY(), BallSymbols::getPropagatedSpeedX(), BallSymbols::getPropagatedSpeedY(), BallSymbols::getPropagatedVelocityValidity(), BallSymbols::getPropagatedX(), BallSymbols::getPropagatedY(), GT2005BallLocator::GT2005BallLocator(), KickSelectionSymbols::intentionalKickPossible(), KickLoggerSymbols::isNear(), KickLoggerSymbols::kickLoggerSetExecuteState(), reset(), serialize(), and GT2005BallLocator::setBallSymbols().

CommunicatedBallState BallModel::communicated

The state of the ball estimated from own observations and from observation of other players. Definition at line 665 of file BallModel.h. Referenced by GTCamBallLocator::execute(), GT2005HeadControlSymbols::getCommunicatedBallDistance(), getKnownBallState(), getKnownPosition(), getTimeSinceLastKnown(), GT2005BehaviorControl::preExecute(), reset(), and serialize().

HypotheticalBallState BallModel::hypothetical

The state of the ball guessed from own negative information after ball was lost. Definition at line 671 of file BallModel.h. Referenced by BallSymbols::getHypotheticalAngle(), BallSymbols::getHypotheticalDistance(), BallSymbols::registerSymbols(), reset(), and serialize().

---

The documentation for this class was generated from the following files:

• Representations/Cognition/BallModel.h
• Representations/Cognition/BallModel.cpp

---