KickSelectionTable Class Reference

#include <KickSelectionTable.h>

List of all members.

Public Types
enum	ActionID {   nothing = 0, headLeft, headRight,   anyLeft, anyRight, hookLeft,   hookRight, leftPaw, rightPaw,   armLeft, armRight, pushSoft,   pushStrong, chestSoft, chestStrong,   putRight, putLeft, forwardKickFast,   forwardKickHard, slapRight, slapLeft,   headLeftSoft, headRightSoft, backKickLeft,   backKickRight, kickAlongArmLeft, kickAlongArmRight,   bbHeadLeftSoft, bbHeadLeftStrong, bbHeadRightSoft,   bbHeadRightStrong, kickWithBackLegLeft, kickWithBackLegRight,   numberOfActions }
	Ids for all possible actions. More...
enum	KickSelectionTableID {   inCenterOfField, atLeftBorder, atRightBorder,   atLeftOpponentBorder, atRightOpponentBorder, nearOwnGoal,   goalie, whenStuck, passing,   intentionalKick, hardKicks, numberOfKickSelectionTableIDs }
	IDs for different kick selection tables. More...
enum	{ xRange = 20 }
enum	{ yRange = 40 }
enum	{ maxNumberOfSectors = 24 }
Public Member Functions
	KickSelectionTable ()
	Constructor.
	~KickSelectionTable ()
	Destructor.
ActionID	retrieveKick (double ballOffsetX, double ballOffsetY, double destinationAngle, double destinationAngleWidth, KickSelectionTableID kickSelectionTableID) const
	Calculates the best kick based on the position of the ball relative to the robot and a target angle.
Vector2< double >	searchKickInNeighbourhood (double ballOffsetX, double ballOffsetY, double destinationAngle, KickSelectionTableID kickSelectionTableID, RobotPose robotPose, double maxDistance, double &kick) const
void	load (const char *fileName)
	Loads a kick selection table from a file.
Static Public Member Functions
const char *	getActionName (ActionID id)
	returns names for action ids
const char *	getShortActionName (ActionID id)
	returns short names for action ids (used by streaming operator)
const char *	getKickSelectionTableIDName (KickSelectionTableID id)
	returns a name for an action table id
const ActionID	getActionIDFromSpecialActionID (SpecialActionRequest::SpecialActionID id)
	Returns an action id for a special action id.
KickSelectionTableID	getTableIDFromName (const char *name)
	Returns a table id for a name.
ActionID	getActionIDFromShortName (const char *name)
	Returns an action id for a short name.
Public Attributes
ActionID	action [xRange][yRange][maxNumberOfSectors][numberOfKickSelectionTableIDs]
	The action tables.
int	numberOfSectors
	The number of sectors.
Private Member Functions
int	getSectorFromAngle (double destinationAngle) const

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Detailed Description

Author:

Matthias Jüngel

Martin Lötzsch

Provides for a set of tables which provides a kick selection depending on a desired kick angle and ball position.

Definition at line 61 of file KickSelectionTable.h.

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Member Enumeration Documentation

enum KickSelectionTable::ActionID

Ids for all possible actions. Enumeration values: nothing  headLeft  headRight  anyLeft  anyRight  hookLeft  hookRight  leftPaw  rightPaw  armLeft  armRight  pushSoft  pushStrong  chestSoft  chestStrong  putRight  putLeft  forwardKickFast  forwardKickHard  slapRight  slapLeft  headLeftSoft  headRightSoft  backKickLeft  backKickRight  kickAlongArmLeft  kickAlongArmRight  bbHeadLeftSoft  bbHeadLeftStrong  bbHeadRightSoft  bbHeadRightStrong  kickWithBackLegLeft  kickWithBackLegRight  numberOfActions  Definition at line 71 of file KickSelectionTable.h. Referenced by getActionIDFromShortName(), getActionIDFromSpecialActionID(), and retrieveKick().

enum KickSelectionTable::KickSelectionTableID

IDs for different kick selection tables. Enumeration values: inCenterOfField  atLeftBorder  atRightBorder  atLeftOpponentBorder  atRightOpponentBorder  nearOwnGoal  goalie  whenStuck  passing  intentionalKick  hardKicks  numberOfKickSelectionTableIDs  Definition at line 195 of file KickSelectionTable.h. Referenced by getTableIDFromName().

anonymous enum

Enumeration values: xRange  Definition at line 274 of file KickSelectionTable.h.

anonymous enum

Enumeration values: yRange  Definition at line 277 of file KickSelectionTable.h.

anonymous enum

Enumeration values: maxNumberOfSectors  Definition at line 280 of file KickSelectionTable.h.

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Constructor & Destructor Documentation

KickSelectionTable::KickSelectionTable (   )

Constructor. Definition at line 23 of file KickSelectionTable.cpp. References action.

KickSelectionTable::~KickSelectionTable (   )

Destructor. Definition at line 28 of file KickSelectionTable.cpp.

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Member Function Documentation

const char* KickSelectionTable::getActionName (  ActionID  id  )  [inline, static]

returns names for action ids Definition at line 109 of file KickSelectionTable.h. References anyLeft, anyRight, armLeft, armRight, backKickLeft, backKickRight, bbHeadLeftSoft, bbHeadLeftStrong, bbHeadRightSoft, bbHeadRightStrong, chestSoft, chestStrong, forwardKickFast, forwardKickHard, headLeft, headLeftSoft, headRight, headRightSoft, hookLeft, hookRight, kickAlongArmLeft, kickAlongArmRight, kickWithBackLegLeft, kickWithBackLegRight, leftPaw, nothing, pushSoft, pushStrong, putLeft, putRight, rightPaw, slapLeft, and slapRight.

const char* KickSelectionTable::getShortActionName (  ActionID  id  )  [inline, static]

returns short names for action ids (used by streaming operator) Definition at line 151 of file KickSelectionTable.h. References anyLeft, anyRight, armLeft, armRight, ASSERT, backKickLeft, backKickRight, bbHeadLeftSoft, bbHeadLeftStrong, bbHeadRightSoft, bbHeadRightStrong, chestSoft, chestStrong, forwardKickFast, forwardKickHard, headLeft, headLeftSoft, headRight, headRightSoft, hookLeft, hookRight, kickAlongArmLeft, kickAlongArmRight, kickWithBackLegLeft, kickWithBackLegRight, leftPaw, nothing, pushSoft, pushStrong, putLeft, putRight, rightPaw, slapLeft, and slapRight. Referenced by getActionIDFromShortName(), and operator<<().

const char* KickSelectionTable::getKickSelectionTableIDName (  KickSelectionTableID  id  )  [inline, static]

returns a name for an action table id Definition at line 212 of file KickSelectionTable.h. References ASSERT, atLeftBorder, atLeftOpponentBorder, atRightBorder, atRightOpponentBorder, goalie, hardKicks, inCenterOfField, intentionalKick, nearOwnGoal, passing, and whenStuck. Referenced by getTableIDFromName(), and operator<<().

const ActionID KickSelectionTable::getActionIDFromSpecialActionID (  SpecialActionRequest::SpecialActionID  id  )  [inline, static]

Returns an action id for a special action id. Definition at line 234 of file KickSelectionTable.h. References ActionID, anyLeft, SpecialActionRequest::anyLeft, anyRight, SpecialActionRequest::anyRight, armLeft, SpecialActionRequest::armLeft, armRight, SpecialActionRequest::armRight, backKickLeft, SpecialActionRequest::backKickLeft, backKickRight, SpecialActionRequest::backKickRight, bbHeadLeftSoft, SpecialActionRequest::bbHeadLeftSoft, bbHeadLeftStrong, SpecialActionRequest::bbHeadLeftStrong, bbHeadRightSoft, SpecialActionRequest::bbHeadRightSoft, bbHeadRightStrong, SpecialActionRequest::bbHeadRightStrong, chestSoft, SpecialActionRequest::chestSoft, forwardKickFast, SpecialActionRequest::forwardKickFast, forwardKickHard, SpecialActionRequest::forwardKickHard, headLeft, SpecialActionRequest::headLeft, headLeftSoft, SpecialActionRequest::headLeftSoft, headRight, SpecialActionRequest::headRight, headRightSoft, SpecialActionRequest::headRightSoft, hookLeft, SpecialActionRequest::hookLeft, hookRight, SpecialActionRequest::hookRight, kickAlongArmLeft, SpecialActionRequest::kickAlongArmLeft, kickAlongArmRight, SpecialActionRequest::kickAlongArmRight, kickWithBackLegLeft, SpecialActionRequest::kickWithBackLegLeft, kickWithBackLegRight, SpecialActionRequest::kickWithBackLegRight, leftPaw, SpecialActionRequest::leftPaw, nothing, pushSoft, SpecialActionRequest::pushSoft, pushStrong, SpecialActionRequest::pushStrong, putLeft, SpecialActionRequest::putLeft, putRight, SpecialActionRequest::putRight, rightPaw, SpecialActionRequest::rightPaw, slapLeft, SpecialActionRequest::slapLeft, slapRight, and SpecialActionRequest::slapRight.

KickSelectionTable::ActionID KickSelectionTable::retrieveKick (  double  ballOffsetX, double  ballOffsetY, double  destinationAngle, double  destinationAngleWidth, KickSelectionTableID  kickSelectionTableID )  const

Calculates the best kick based on the position of the ball relative to the robot and a target angle. Definition at line 136 of file KickSelectionTable.cpp. References ActionID, fromDegrees(), normalize(), pi, xRange, and yRange. Referenced by KickSelectionSymbols::retrieveKick().

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Vector2< double > KickSelectionTable::searchKickInNeighbourhood (  double  ballOffsetX, double  ballOffsetY, double  destinationAngle, KickSelectionTableID  kickSelectionTableID, RobotPose  robotPose, double  maxDistance, double &  kick )  const

Definition at line 72 of file KickSelectionTable.cpp. References Vector2< V >::abs(), action, CIRCLE, CROSS, DEBUG_DRAWING_FINISHED, getSectorFromAngle(), nothing, Geometry::relative2FieldCoord(), Vector2< V >::x, Vector2< V >::y, and yRange. Referenced by KickSelectionSymbols::intentionalKickPossible().

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KickSelectionTable::KickSelectionTableID KickSelectionTable::getTableIDFromName (  const char *  name  )  [static]

Returns a table id for a name. Definition at line 32 of file KickSelectionTable.cpp. References getKickSelectionTableIDName(), inCenterOfField, KickSelectionTableID, and numberOfKickSelectionTableIDs. Referenced by operator>>().

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KickSelectionTable::ActionID KickSelectionTable::getActionIDFromShortName (  const char *  name  )  [static]

Returns an action id for a short name. Definition at line 45 of file KickSelectionTable.cpp. References ActionID, getShortActionName(), nothing, and numberOfActions. Referenced by operator>>().

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void KickSelectionTable::load (  const char *  fileName  )

Loads a kick selection table from a file. Definition at line 58 of file KickSelectionTable.cpp. References InFile::exists(), and getLocation(). Referenced by KickSelectionSymbols::KickSelectionSymbols().

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int KickSelectionTable::getSectorFromAngle (  double  destinationAngle  )  const [private]

Definition at line 68 of file KickSelectionTable.cpp. References fromDegrees(), normalize(), numberOfSectors, pi, and pi2. Referenced by searchKickInNeighbourhood().

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Member Data Documentation

ActionID KickSelectionTable::action[xRange][yRange][maxNumberOfSectors][numberOfKickSelectionTableIDs]

The action tables. Definition at line 302 of file KickSelectionTable.h. Referenced by KickSelectionTable(), operator<<(), operator>>(), and searchKickInNeighbourhood().

int KickSelectionTable::numberOfSectors

The number of sectors. Definition at line 305 of file KickSelectionTable.h. Referenced by getSectorFromAngle(), operator<<(), and operator>>().

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

• Tools/KickSelectionTable.h
• Tools/KickSelectionTable.cpp

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