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// -*-c++-*-
/*!
\file cross_generator.h
\brief cross pass generator Header File
*/
/*
*Copyright:
Copyright (C) Hidehisa AKIYAMA
This code is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3, or (at your option)
any later version.
This code is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this code; see the file COPYING. If not, write to
the Free Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
*EndCopyright:
*/
/////////////////////////////////////////////////////////////////////
#ifndef CROSS_GENERATOR_H
#define CROSS_GENERATOR_H
#include "pass.h"
#include <rcsc/player/abstract_player_object.h>
#include <rcsc/geom/vector_2d.h>
#include <rcsc/game_time.h>
#include <vector>
namespace rcsc {
class PlayerObject;
class WorldModel;
}
class CrossGenerator {
private:
int M_total_count;
const rcsc::AbstractPlayerObject * M_passer; //!< estimated passer
rcsc::Vector2D M_first_point;
rcsc::AbstractPlayerCont M_receiver_candidates;
rcsc::AbstractPlayerCont M_opponents;
std::vector< CooperativeAction::Ptr > M_courses;
// private for singleton
CrossGenerator();
// not used
CrossGenerator( const CrossGenerator & );
CrossGenerator & operator=( const CrossGenerator & );
public:
static
CrossGenerator & instance();
void generate( const rcsc::WorldModel & wm );
const std::vector< CooperativeAction::Ptr > & courses( const rcsc::WorldModel & wm )
{
generate( wm );
return M_courses;
}
private:
void clear();
void updatePasser( const rcsc::WorldModel & wm );
void updateReceivers( const rcsc::WorldModel & wm );
void updateOpponents( const rcsc::WorldModel & wm );
void createCourses( const rcsc::WorldModel & wm );
void createCross( const rcsc::WorldModel & wm,
const rcsc::AbstractPlayerObject * receiver );
bool checkOpponent( const rcsc::Vector2D & first_ball_pos,
const rcsc::AbstractPlayerObject * receiver,
const rcsc::Vector2D & receive_pos,
const double & first_ball_speed,
const rcsc::AngleDeg & ball_move_angle,
const int max_cycle );
double getMinimumAngleWidth( const double & target_dist,
const rcsc::AngleDeg & target_angle );
};
#endif