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Field Class Reference

The class represents the field area. More...

#include <Field.h>

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List of all members.

Public Member Functions

 Field ()
 Constructor.

bool isReallyInside (const Vector2< double > &v) const
 The function checks whether a point is inside the field.

double clip (Vector2< double > &v) const
 The function clips a point to the field.

Vector2< double > getClosestPoint (const Vector2< double > &v, LinesPercept::LineType type) const
 The function returns the point on a line of a certain type closest to given a point.

bool getClosestPoint (Vector2< double > &point, const Pose2D &p, int numberOfRotations, LinesPercept::LineType type) const
 The function returns the point on a line of a certain type closest to given a point.

double getClosestDistance (const Vector2< double > &v, LinesPercept::LineType type) const
 The function returns the distance between a point and the closest point on a line of a certain type.

double getDistance (const Pose2D &pose, LinesPercept::LineType type) const
 The function returns the distance between a point and the closest point on a line of a certain type in a certain direction.

double getDistance (const Pose2D &pose, bool ignoreFieldLines=false) const
 The function returns the distance between a point and the closest point on a line in a certain direction.

double getDistanceToOwnPenaltyArea (const Pose2D &pose) const
 The function returns the distance to the robots own penalty area for a given pose.

double getObstacleDistance (const Pose2D &pose, ObstaclesPercept::ObstacleType &obstacleType) const
 The function returns the distance between a point and the closest obstacle point in a certain direction.

void placePlayers (const PlayerPoseCollection &ppc)
 The function places all robots as obstacles in an internal data structure.

Pose2D randomPose () const
 The function returns a random pose inside the field.

void draw (const Drawings::Color color, LinesPercept::LineType type) const
 The function draws all lines of a cetain type.


Private Member Functions

void initBoundary (Table &table)
void initBoundaryForHugeField (Table &table)
void initLines (Table &table, Table &xTable, Table &yTable)
void initBorder (Table &table)
void initBorderForHugeField (Table &table)
void initOpponentGoal (Table &table)
void initOwnGoal (Table &table)
void initSimpleLines (Table &table)
void initSimpleLinesForHugeField (Table &table)
void addCoords (Table &table, int number, double *x, double *y, bool rotate=false)
void addCoords (Table &table, Table &xTable, Table &yTable, int number, double *x, double *y, bool rotate=false)
void addPlayer (const Pose2D &pose)

Private Attributes

Table lines [LinesPercept::numberOfLineTypes+5]

Detailed Description

The class represents the field area.

Definition at line 23 of file Field.h.

Constructor & Destructor Documentation

Field::Field (   ) 
 

Constructor.

Definition at line 15 of file Field.cpp.

References Boundary< double >::add(), initBorder(), initBorderForHugeField(), initBoundary(), initBoundaryForHugeField(), initLines(), initOpponentGoal(), initOwnGoal(), initSimpleLines(), initSimpleLinesForHugeField(), and lines.

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Member Function Documentation

void Field::initBoundary (  Table &  table  )  [private]
 

Definition at line 39 of file Field.cpp.

References addCoords(), Field::Table::maxNumberOfEntries, and Field::Table::setSize().

Referenced by Field().

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void Field::initBoundaryForHugeField (  Table &  table  )  [private]
 

Definition at line 86 of file Field.cpp.

References addCoords(), and Field::Table::setSize().

Referenced by Field().

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void Field::initLines (  Table &  table,
Table &  xTable,
Table &  yTable
)  [private]
 

Definition at line 109 of file Field.cpp.

References addCoords(), pi_2, and Field::Table::setSize().

Referenced by Field().

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void Field::initBorder (  Table &  table  )  [private]
 

Definition at line 516 of file Field.cpp.

References addCoords(), and Field::Table::setSize().

Referenced by Field().

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void Field::initBorderForHugeField (  Table &  table  )  [private]
 

Definition at line 566 of file Field.cpp.

References addCoords(), pi, pi2, and Field::Table::setSize().

Referenced by Field().

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void Field::initOpponentGoal (  Table &  table  )  [private]
 

Definition at line 627 of file Field.cpp.

References addCoords(), Field::Table::maxNumberOfEntries, and Field::Table::setSize().

Referenced by Field().

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void Field::initOwnGoal (  Table &  table  )  [private]
 

Definition at line 648 of file Field.cpp.

References addCoords(), Field::Table::maxNumberOfEntries, and Field::Table::setSize().

Referenced by Field().

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void Field::initSimpleLines (  Table &  table  )  [private]
 

Definition at line 400 of file Field.cpp.

References addCoords(), and Field::Table::setSize().

Referenced by Field().

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void Field::initSimpleLinesForHugeField (  Table &  table  )  [private]
 

Definition at line 458 of file Field.cpp.

References addCoords(), and Field::Table::setSize().

Referenced by Field().

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void Field::addCoords (  Table &  table,
int  number,
double *  x,
double *  y,
bool  rotate = false
)  [private]
 

Definition at line 669 of file Field.cpp.

References Field::Table::push().

Referenced by addPlayer(), initBorder(), initBorderForHugeField(), initBoundary(), initBoundaryForHugeField(), initLines(), initOpponentGoal(), initOwnGoal(), initSimpleLines(), and initSimpleLinesForHugeField().

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void Field::addCoords (  Table &  table,
Table &  xTable,
Table &  yTable,
int  number,
double *  x,
double *  y,
bool  rotate = false
)  [private]
 

Definition at line 683 of file Field.cpp.

References Field::Table::push().

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void Field::addPlayer (  const Pose2D &  pose  )  [private]
 

Definition at line 924 of file Field.cpp.

References addCoords(), RobotDimensions::bodyLength, getRobotConfiguration(), RobotConfiguration::getRobotDimensions(), RobotDimensions::lengthNeckToBodyCenter, lines, RobotDimensions::overallBodyWidth, Vector2< V >::x, and Vector2< V >::y.

Referenced by placePlayers().

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bool Field::isReallyInside (  const Vector2< double > &  v  )  const
 

The function checks whether a point is inside the field.

Parameters:
v The point.
Returns:
Is the point inside?

Definition at line 701 of file Field.cpp.

References Boundary< double >::isInside(), lines, Field::Table::numberOfEntries, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y.

Referenced by clip(), and randomPose().

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double Field::clip (  Vector2< double > &  v  )  const
 

The function clips a point to the field.

Parameters:
v The point.
Returns:
How far was the point moved?

Definition at line 716 of file Field.cpp.

References Vector2< V >::abs(), isReallyInside(), lines, Field::Table::numberOfEntries, and Vector2< V >::x.

Referenced by GT2004SelfLocator::calcPose(), SlamSelfLocator::calcPoseFromSubCube(), GT2005StableSelfLocator::calcPoseFromSubCube(), and GT2005SelfLocator::calcPoseFromSubCube().

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Vector2< double > Field::getClosestPoint (  const Vector2< double > &  v,
LinesPercept::LineType  type
)  const
 

The function returns the point on a line of a certain type closest to given a point.

Parameters:
v The reference point.
type The type of the lines.
Returns:
The point on a line.

Definition at line 745 of file Field.cpp.

References Vector2< V >::abs(), Field::Table::corner, Field::Table::length, lines, Field::Table::numberOfEntries, Pose2D::translation, and Vector2< V >::x.

Referenced by LinesTables2005::ObservationTable< xSize, ySize, cellSize, pointRes >::create(), ObservationTable< 320, 240, 25, 25 >::create(), and getClosestDistance().

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bool Field::getClosestPoint (  Vector2< double > &  point,
const Pose2D &  p,
int  numberOfRotations,
LinesPercept::LineType  type
)  const
 

The function returns the point on a line of a certain type closest to given a point.

Parameters:
p The reference point and the rotation of the line.
numberOfRotations The number of discretizations of line rotations.
type The type of the lines.
point The point on a line.
Returns:
whether there is a matching point in that direction

Definition at line 772 of file Field.cpp.

References Vector2< V >::abs(), ASSERT, Field::Table::corner, Field::Table::length, lines, Field::Table::numberOfEntries, pi2, pi_2, Pose2D::rotation, Pose2D::translation, and Vector2< V >::x.

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double Field::getClosestDistance (  const Vector2< double > &  v,
LinesPercept::LineType  type
)  const
 

The function returns the distance between a point and the closest point on a line of a certain type.

Parameters:
v The reference point.
type The type of the lines.
Returns:
The distance.

Definition at line 815 of file Field.cpp.

References getClosestPoint().

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double Field::getDistance (  const Pose2D &  pose,
LinesPercept::LineType  type
)  const
 

The function returns the distance between a point and the closest point on a line of a certain type in a certain direction.

Parameters:
pose The reference point and direction.
type The type of the lines.
Returns:
The distance. It is -1 if no line of that type exists in the certain direction.

Definition at line 821 of file Field.cpp.

References Field::Table::corner, Field::Table::length, lines, Field::Table::numberOfEntries, Vector2< V >::x, and Vector2< V >::y.

Referenced by LinesTables2005::TemplateTable< TEMPLATES_MAX, POINT_RES >::create(), TemplateTable< 65000, 25 >::create(), getDistance(), and getObstacleDistance().

double Field::getDistance (  const Pose2D &  pose,
bool  ignoreFieldLines = false
)  const
 

The function returns the distance between a point and the closest point on a line in a certain direction.

Parameters:
pose The reference point and direction.
ignoreFieldLines The field lines are ignored during the search.
Returns:
The distance. It is -1 if no line of that type exists in the certain direction.

Definition at line 842 of file Field.cpp.

References getDistance().

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double Field::getDistanceToOwnPenaltyArea (  const Pose2D &  pose  )  const
 

The function returns the distance to the robots own penalty area for a given pose.

Parameters:
pose The reference point and direction (robot pose).
Returns:
The distance. It is -1 if no line of that type exists in the certain direction.

Definition at line 855 of file Field.cpp.

References Field::Table::corner, Field::Table::length, lines, Vector2< V >::x, and Vector2< V >::y.

Referenced by GT2005ObstaclesLocator::setObstaclesModel().

double Field::getObstacleDistance (  const Pose2D &  pose,
ObstaclesPercept::ObstacleType &  obstacleType
)  const
 

The function returns the distance between a point and the closest obstacle point in a certain direction.

Parameters:
pose The reference point and direction.
obstacleType The Obstacletype to be determined.
Returns:
The distance. It is -1 if no line of that type exists in the certain direction.

Definition at line 881 of file Field.cpp.

References getDistance(), and LinesPercept::LineType.

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void Field::placePlayers (  const PlayerPoseCollection &  ppc  ) 
 

The function places all robots as obstacles in an internal data structure.

Parameters:
ppc The poses of all other players on the field.

Definition at line 914 of file Field.cpp.

References addPlayer(), PlayerPoseCollection::getOpponentPlayerPose(), PlayerPoseCollection::getOwnPlayerPose(), PlayerPose::getPose(), lines, PlayerPoseCollection::numberOfOpponentPlayers, PlayerPoseCollection::numberOfOwnPlayers, and Field::Table::setSize().

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Pose2D Field::randomPose (   )  const
 

The function returns a random pose inside the field.

Returns:
The random pose.

Definition at line 940 of file Field.cpp.

References isReallyInside(), pi, Pose2D::random(), and Pose2D::translation.

Referenced by LinesTables2005::TemplateTable< TEMPLATES_MAX, POINT_RES >::create(), TemplateTable< 65000, 25 >::create(), SlamSelfLocator::execute(), SlamSampleTemplateGenerator::getTemplate(), GT2005StableSampleTemplateGenerator::getTemplate(), GT2005SampleTemplateGenerator::getTemplate(), GT2004SelfLocator::getTemplate(), GT2004SelfLocator::GT2004SelfLocator(), GT2005StableSelfLocator::GT2005StableSelfLocator(), GT2005SelfLocator::resample(), GT2005SelfLocator::resetSamples(), GT2005SelfLocator::resetSamplesWhenPenalized(), and SlamSelfLocator::SlamSelfLocator().

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void Field::draw (  const Drawings::Color  color,
LinesPercept::LineType  type
)  const
 

The function draws all lines of a cetain type.

It is use to control the correctness of the model.

Parameters:
color The color the lines will be drawn in.
type The type of the lines.

Definition at line 949 of file Field.cpp.

References Field::Table::corner, Field::Table::length, lines, NDECLARE_DEBUGDRAWING, NLINE, Field::Table::numberOfEntries, Pose2D::translation, Vector2< V >::x, Vector2< V >::y, and Vector2< double >::y.

Member Data Documentation

Table Field::lines[LinesPercept::numberOfLineTypes + 5] [private]
 

Definition at line 74 of file Field.h.

Referenced by addPlayer(), clip(), draw(), Field(), getClosestPoint(), getDistance(), getDistanceToOwnPenaltyArea(), isReallyInside(), and placePlayers().

The documentation for this class was generated from the following files:
Generated on Mon Mar 20 22:12:13 2006 for GT2005 by doxygen 1.3.6