継承:
public メンバ-
static const Flt dfltTrapHardness
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static const Int dfltWaitMargin
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static const Int SeenMargin
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public メンバ関数-
SimplePlayer()
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ITK_DEF_ACCESS(FieldState & taughtState(), { return _taughtState ; })
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ITK_DEF_ACCESS(virtual FieldState & currentState(), { return _currentState ; })
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ITK_DEF_ACCESS(CycleStep & bctime(), { return _bctime ; })
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ITK_DEF_ACCESS(PosDir & myposdir(), { return currentState().myposdir() ; })
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ITK_DEF_ACCESS(Angle & myneck(), { return currentState().neckAngle() ; })
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ITK_DEF_ACCESS(Flt & velConf(), { return currentState().velConf() ; })
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ITK_DEF_ACCESS(Bool & outofFieldP(), { return currentState().outofFieldP() ; })
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ITK_DEF_ACCESS(FieldState::Object & ball(), { return currentState().ball() ; })
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ITK_DEF_ACCESS(Vec & ballvel(), { return currentState().ballvel() ; })
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ITK_DEF_ACCESS(FieldState::Object & teammate(UInt i), { return currentState().teammate(i) ; })
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ITK_DEF_ACCESS(FieldState::Object & opponent(UInt i), { return currentState().opponent(i) ; })
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ITK_DEF_ACCESS(FieldState::Object & player(UInt i), { return currentState().player(i) ; })
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ITK_DEF_ACCESS(FieldState & stateEntry(UInt cycle), { return _stateHistory[cycle] ; })
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FieldState& pushState(const CycleStep & time, const FieldState & s)
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WorldModel::State& estState()
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WorldModel::State& estState(Int t)
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WorldModel::Object& estSelf()
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WorldModel::Object& estSelf(Int t)
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WorldModel::Object& estBall()
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WorldModel::Object& estBall(Int t)
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Vec& estSelfPos()
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Vec& estSelfPos(Int t)
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Vec& estSelfVel()
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Vec& estSelfVel(Int t)
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Vec& estBallPos()
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Vec& estBallPos(Int t)
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Vec& estBallVel()
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Vec& estBallVel(Int t)
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virtual Bool analyzeSensorSee()
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virtual Bool analyzeSensorHear()
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virtual Bool analyzeSensorSenseBody()
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virtual Bool analyzeSensorFullState()
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Bool waitNextBestComTime(UInt marginMS = 50)
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virtual Bool move(const Flt & x, const Flt & y)
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Bool move(const Vec & pos)
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virtual Bool turn(const Flt & moment)
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virtual Bool dash(const Flt & power)
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virtual Bool kick(const Flt & power, const Flt & dir)
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virtual Bool gcatch(const Flt & dir)
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virtual Bool head(const Flt & dir)
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virtual Bool say(const SubString & msg)
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Bool say(const char* msg)
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virtual Bool sendCommandPre(Bool bodyp)
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virtual Bool turnTo(const Flt adir)
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virtual Bool turnToRel(const Vec & rpos)
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virtual Bool turnToAbs(const Vec & apos)
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virtual Bool kickTo(const Flt & power, const Flt & adir)
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virtual Bool kickToRel(const Flt & power, const Vec & rpos)
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virtual Bool kickToAbs(const Flt & power, const Vec & apos)
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virtual Bool trapBall(Flt hardness = dfltTrapHardness)
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virtual Bool trapKickTo(const Flt & power, const Flt & adir, Flt hardness = dfltTrapHardness)
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virtual Bool trapKickToRel(const Flt & power, const Vec & rpos, Flt hardness = dfltTrapHardness)
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virtual Bool trapKickToAbs(const Flt & power, const Vec & apos, Flt hardness = dfltTrapHardness)
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virtual Bool gcatchTo(const Flt & adir)
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virtual Bool gcatchToRel(const Vec & rpos)
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virtual Bool gcatchToAbs(const Vec & apos)
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virtual Bool headTo(const Angle & adir)
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virtual Bool headToRel(const Vec & rpos)
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virtual Bool headToAbs(const Vec & apos)
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Bool swingBall1(Flt radius, Flt dirstep)
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Bool swingBallN(Int n, Flt radius, Flt dirstep, Bool stopp = True, Int waitmargin = dfltWaitMargin)
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Bool swingBallTo(Flt tdir, Flt radius, Flt dirstep, Bool shorterAngle = True, Bool stopp = True, Int waitmargin = dfltWaitMargin)
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Bool swingBallToRel(Pos rpos, Flt radius, Flt dirstep, Bool shorterAngle = True, Bool stopp = True, Int waitmargin = dfltWaitMargin)
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Bool swingBallToAbs(Pos apos, Flt radius, Flt dirstep, Bool shorterAngle = True, Bool stopp = True, Int waitmargin = dfltWaitMargin)
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Bool dribble1To(Flt tdir, Flt power, Flt keepdir, Flt keepdist, Flt dirstep, Int waitmargin)
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Bool isBallSeenRecently(Int margin = SeenMargin) const
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Bool isMyPosEstimatedRecently(Int margin = SeenMargin) const
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Bool kickable() const
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Bool isInPenaltyArea(const Pos & pos, Flt margin = 0.0) const
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Bool gcatchable() const
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Bool canMove() const
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Bool shouldBeInitPos() const
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Bool isMyGoalKick() const
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Bool isMyKickOff() const
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Bool isOpponentKickOff() const
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Bool isPlayOn() const
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Bool isRestart(Side s) const
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Bool isMyRestart() const
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Bool isOpponentRestart() const
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Bool canPlay() const
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Bool canDash() const
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virtual void describeAux(ostream & ostr, const Bool detailp = True) const
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public クラス-
class StateHistory: public RingBufferT<FieldState>
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public メンバ関数-
virtual Bool scanSensorPre(SimpleSexp & s)
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virtual Bool scanSensorPost(SimpleSexp & s, Bool result)
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Thread* forkSensor()
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static void* runSensor(void* p)
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void* sensorMainLoop()
public メンバ関数-
Bool init(const char* const shost = DfltSSHost, UInt sport = DfltSSPort, const char* const tname = DfltTeamName, Bool gp = False, Flt proto = DfltSSProto, Bool openp = True, Bool reconnectp = False)
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Bool open(Bool reconnectp = False)
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virtual Bool sendInit()
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virtual Bool sendReconnect()
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virtual Bool send()
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virtual Bool sendMove(Flt x, Flt y)
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Bool sendMove(const Vec & pos)
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virtual Bool sendTurn(Flt power)
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virtual Bool sendDash(Flt power)
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virtual Bool sendKick(Flt power, Flt dir)
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virtual Bool sendCatch(Flt dir)
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virtual Bool sendTurnNeck(Flt pow)
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virtual Bool sendSay(const SubString & msg)
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virtual Bool sendSenseBody()
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virtual Bool sendChangeView(ViewWidth vw, ViewQuality vq)
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virtual Bool sendCommandPost(Bool bodyp)
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virtual Bool recv()
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virtual Bool cycleSensor()
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virtual Bool cycleSensorPre()
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virtual Bool cycleSensorPost(Bool result)
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virtual Bool scanSensor(SimpleSexp & s)
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Bool scanSensor(SimpleSexp* s)
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virtual Bool terminate()
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static void sleep(const UInt & sec = 0, const UInt & msec = 0, const UInt & usec = 0)
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static void sleepUntil(const TimeVal & etime)
public クラス-
typedef ScWord * PlayMode
文書
SimplePlayer()
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ITK_DEF_ACCESS(FieldState & taughtState(), { return _taughtState ; })
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ITK_DEF_ACCESS(virtual FieldState & currentState(), { return _currentState ; })
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ITK_DEF_ACCESS(CycleStep & bctime(), { return _bctime ; })
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ITK_DEF_ACCESS(PosDir & myposdir(), { return currentState().myposdir() ; })
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ITK_DEF_ACCESS(Angle & myneck(), { return currentState().neckAngle() ; })
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ITK_DEF_ACCESS(Flt & velConf(), { return currentState().velConf() ; })
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ITK_DEF_ACCESS(Bool & outofFieldP(), { return currentState().outofFieldP() ; })
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ITK_DEF_ACCESS(FieldState::Object & ball(), { return currentState().ball() ; })
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ITK_DEF_ACCESS(Vec & ballvel(), { return currentState().ballvel() ; })
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ITK_DEF_ACCESS(FieldState::Object & teammate(UInt i), { return currentState().teammate(i) ; })
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ITK_DEF_ACCESS(FieldState::Object & opponent(UInt i), { return currentState().opponent(i) ; })
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ITK_DEF_ACCESS(FieldState::Object & player(UInt i), { return currentState().player(i) ; })
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ITK_DEF_ACCESS(FieldState & stateEntry(UInt cycle), { return _stateHistory[cycle] ; })
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FieldState& pushState(const CycleStep & time, const FieldState & s)
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WorldModel::State& estState()
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WorldModel::State& estState(Int t)
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WorldModel::Object& estSelf()
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WorldModel::Object& estSelf(Int t)
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WorldModel::Object& estBall()
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WorldModel::Object& estBall(Int t)
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Vec& estSelfPos()
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Vec& estSelfPos(Int t)
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Vec& estSelfVel()
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Vec& estSelfVel(Int t)
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Vec& estBallPos()
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Vec& estBallPos(Int t)
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Vec& estBallVel()
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Vec& estBallVel(Int t)
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virtual Bool analyzeSensorSee()
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virtual Bool analyzeSensorHear()
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virtual Bool analyzeSensorSenseBody()
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virtual Bool analyzeSensorFullState()
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Bool waitNextBestComTime(UInt marginMS = 50)
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virtual Bool move(const Flt & x, const Flt & y)
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Bool move(const Vec & pos)
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virtual Bool turn(const Flt & moment)
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virtual Bool dash(const Flt & power)
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virtual Bool kick(const Flt & power, const Flt & dir)
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virtual Bool gcatch(const Flt & dir)
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virtual Bool head(const Flt & dir)
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virtual Bool say(const SubString & msg)
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Bool say(const char* msg)
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virtual Bool sendCommandPre(Bool bodyp)
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virtual Bool turnTo(const Flt adir)
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virtual Bool turnToRel(const Vec & rpos)
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virtual Bool turnToAbs(const Vec & apos)
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virtual Bool kickTo(const Flt & power, const Flt & adir)
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virtual Bool kickToRel(const Flt & power, const Vec & rpos)
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virtual Bool kickToAbs(const Flt & power, const Vec & apos)
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static const Flt dfltTrapHardness
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virtual Bool trapBall(Flt hardness = dfltTrapHardness)
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virtual Bool trapKickTo(const Flt & power, const Flt & adir, Flt hardness = dfltTrapHardness)
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virtual Bool trapKickToRel(const Flt & power, const Vec & rpos, Flt hardness = dfltTrapHardness)
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virtual Bool trapKickToAbs(const Flt & power, const Vec & apos, Flt hardness = dfltTrapHardness)
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virtual Bool gcatchTo(const Flt & adir)
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virtual Bool gcatchToRel(const Vec & rpos)
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virtual Bool gcatchToAbs(const Vec & apos)
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virtual Bool headTo(const Angle & adir)
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virtual Bool headToRel(const Vec & rpos)
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virtual Bool headToAbs(const Vec & apos)
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static const Int dfltWaitMargin
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Bool swingBall1(Flt radius, Flt dirstep)
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Bool swingBallN(Int n, Flt radius, Flt dirstep, Bool stopp = True, Int waitmargin = dfltWaitMargin)
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Bool swingBallTo(Flt tdir, Flt radius, Flt dirstep, Bool shorterAngle = True, Bool stopp = True, Int waitmargin = dfltWaitMargin)
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Bool swingBallToRel(Pos rpos, Flt radius, Flt dirstep, Bool shorterAngle = True, Bool stopp = True, Int waitmargin = dfltWaitMargin)
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Bool swingBallToAbs(Pos apos, Flt radius, Flt dirstep, Bool shorterAngle = True, Bool stopp = True, Int waitmargin = dfltWaitMargin)
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Bool dribble1To(Flt tdir, Flt power, Flt keepdir, Flt keepdist, Flt dirstep, Int waitmargin)
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static const Int SeenMargin
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Bool isBallSeenRecently(Int margin = SeenMargin) const
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Bool isMyPosEstimatedRecently(Int margin = SeenMargin) const
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Bool kickable() const
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Bool isInPenaltyArea(const Pos & pos, Flt margin = 0.0) const
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Bool gcatchable() const
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Bool canMove() const
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Bool shouldBeInitPos() const
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Bool isMyGoalKick() const
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Bool isMyKickOff() const
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Bool isOpponentKickOff() const
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Bool isPlayOn() const
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Bool isRestart(Side s) const
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Bool isMyRestart() const
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Bool isOpponentRestart() const
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Bool canPlay() const
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Bool canDash() const
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virtual void describeAux(ostream & ostr, const Bool detailp = True) const
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- このクラスには、子クラスは存在しない
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