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WorldObject.h
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#ifndef _WORLD_OBJECT_H
#define _WORLD_OBJECT_H
#include <boost/assign/list_of.hpp> // for 'map_list_of()'
using boost::assign::map_list_of; // bring 'map_list_of()' into scope
#include <map>
using std::map;
#include "../math/vecposition.h"
#include <vector>
using std::vector;
#include "../math/Geometry.h"
#include "../parser/VisionObject.h"
enum WorldObjType { // Types of objects
WO_BALL,
// Self and Teammates
WO_TEAMMATE1,
WO_TEAMMATE2,
WO_TEAMMATE3,
WO_TEAMMATE4,
WO_TEAMMATE5,
WO_TEAMMATE6,
WO_TEAMMATE7,
WO_TEAMMATE8,
WO_TEAMMATE9,
WO_TEAMMATE10,
WO_TEAMMATE11,
// Opponents
WO_OPPONENT1,
WO_OPPONENT2,
WO_OPPONENT3,
WO_OPPONENT4,
WO_OPPONENT5,
WO_OPPONENT6,
WO_OPPONENT7,
WO_OPPONENT8,
WO_OPPONENT9,
WO_OPPONENT10,
WO_OPPONENT11,
// Heads
WO_TEAMMATE_HEAD1,
WO_TEAMMATE_HEAD2,
WO_TEAMMATE_HEAD3,
WO_TEAMMATE_HEAD4,
WO_TEAMMATE_HEAD5,
WO_TEAMMATE_HEAD6,
WO_TEAMMATE_HEAD7,
WO_TEAMMATE_HEAD8,
WO_TEAMMATE_HEAD9,
WO_TEAMMATE_HEAD10,
WO_TEAMMATE_HEAD11,
WO_OPPONENT_HEAD1,
WO_OPPONENT_HEAD2,
WO_OPPONENT_HEAD3,
WO_OPPONENT_HEAD4,
WO_OPPONENT_HEAD5,
WO_OPPONENT_HEAD6,
WO_OPPONENT_HEAD7,
WO_OPPONENT_HEAD8,
WO_OPPONENT_HEAD9,
WO_OPPONENT_HEAD10,
WO_OPPONENT_HEAD11,
// Left arms
WO_TEAMMATE_ARM_L1,
WO_TEAMMATE_ARM_L2,
WO_TEAMMATE_ARM_L3,
WO_TEAMMATE_ARM_L4,
WO_TEAMMATE_ARM_L5,
WO_TEAMMATE_ARM_L6,
WO_TEAMMATE_ARM_L7,
WO_TEAMMATE_ARM_L8,
WO_TEAMMATE_ARM_L9,
WO_TEAMMATE_ARM_L10,
WO_TEAMMATE_ARM_L11,
WO_OPPONENT_ARM_L1,
WO_OPPONENT_ARM_L2,
WO_OPPONENT_ARM_L3,
WO_OPPONENT_ARM_L4,
WO_OPPONENT_ARM_L5,
WO_OPPONENT_ARM_L6,
WO_OPPONENT_ARM_L7,
WO_OPPONENT_ARM_L8,
WO_OPPONENT_ARM_L9,
WO_OPPONENT_ARM_L10,
WO_OPPONENT_ARM_L11,
// Right arms
WO_TEAMMATE_ARM_R1,
WO_TEAMMATE_ARM_R2,
WO_TEAMMATE_ARM_R3,
WO_TEAMMATE_ARM_R4,
WO_TEAMMATE_ARM_R5,
WO_TEAMMATE_ARM_R6,
WO_TEAMMATE_ARM_R7,
WO_TEAMMATE_ARM_R8,
WO_TEAMMATE_ARM_R9,
WO_TEAMMATE_ARM_R10,
WO_TEAMMATE_ARM_R11,
WO_OPPONENT_ARM_R1,
WO_OPPONENT_ARM_R2,
WO_OPPONENT_ARM_R3,
WO_OPPONENT_ARM_R4,
WO_OPPONENT_ARM_R5,
WO_OPPONENT_ARM_R6,
WO_OPPONENT_ARM_R7,
WO_OPPONENT_ARM_R8,
WO_OPPONENT_ARM_R9,
WO_OPPONENT_ARM_R10,
WO_OPPONENT_ARM_R11,
// Left feet
WO_TEAMMATE_FOOT_L1,
WO_TEAMMATE_FOOT_L2,
WO_TEAMMATE_FOOT_L3,
WO_TEAMMATE_FOOT_L4,
WO_TEAMMATE_FOOT_L5,
WO_TEAMMATE_FOOT_L6,
WO_TEAMMATE_FOOT_L7,
WO_TEAMMATE_FOOT_L8,
WO_TEAMMATE_FOOT_L9,
WO_TEAMMATE_FOOT_L10,
WO_TEAMMATE_FOOT_L11,
WO_OPPONENT_FOOT_L1,
WO_OPPONENT_FOOT_L2,
WO_OPPONENT_FOOT_L3,
WO_OPPONENT_FOOT_L4,
WO_OPPONENT_FOOT_L5,
WO_OPPONENT_FOOT_L6,
WO_OPPONENT_FOOT_L7,
WO_OPPONENT_FOOT_L8,
WO_OPPONENT_FOOT_L9,
WO_OPPONENT_FOOT_L10,
WO_OPPONENT_FOOT_L11,
// Right feet
WO_TEAMMATE_FOOT_R1,
WO_TEAMMATE_FOOT_R2,
WO_TEAMMATE_FOOT_R3,
WO_TEAMMATE_FOOT_R4,
WO_TEAMMATE_FOOT_R5,
WO_TEAMMATE_FOOT_R6,
WO_TEAMMATE_FOOT_R7,
WO_TEAMMATE_FOOT_R8,
WO_TEAMMATE_FOOT_R9,
WO_TEAMMATE_FOOT_R10,
WO_TEAMMATE_FOOT_R11,
WO_OPPONENT_FOOT_R1,
WO_OPPONENT_FOOT_R2,
WO_OPPONENT_FOOT_R3,
WO_OPPONENT_FOOT_R4,
WO_OPPONENT_FOOT_R5,
WO_OPPONENT_FOOT_R6,
WO_OPPONENT_FOOT_R7,
WO_OPPONENT_FOOT_R8,
WO_OPPONENT_FOOT_R9,
WO_OPPONENT_FOOT_R10,
WO_OPPONENT_FOOT_R11,
FLAG_1_L,
FLAG_1_R,
FLAG_2_L,
FLAG_2_R,
//Goal Posts
GOALPOST_1_L,
GOALPOST_1_R,
GOALPOST_2_L,
GOALPOST_2_R,
LINE,
NUM_WORLD_OBJS,
};
static map<int,const char*> WorldObjType2Str = map_list_of
( WO_BALL, "WO_BALL")
( WO_TEAMMATE1, "WO_TEAMMATE1" )
( WO_TEAMMATE2, "WO_TEAMMATE2" )
( WO_TEAMMATE3, "WO_TEAMMATE3" )
( WO_TEAMMATE4, "WO_TEAMMATE4" )
( WO_TEAMMATE5, "WO_TEAMMATE5" )
( WO_TEAMMATE6, "WO_TEAMMATE6" )
( WO_TEAMMATE7, "WO_TEAMMATE7" )
( WO_TEAMMATE8, "WO_TEAMMATE8" )
( WO_TEAMMATE9, "WO_TEAMMATE9" )
( WO_TEAMMATE10, "WO_TEAMMATE10" )
( WO_TEAMMATE11, "WO_TEAMMATE11" )
( WO_OPPONENT1, "WO_OPPONENT1" )
( WO_OPPONENT2, "WO_OPPONENT2" )
( WO_OPPONENT3, "WO_OPPONENT3" )
( WO_OPPONENT4, "WO_OPPONENT4" )
( WO_OPPONENT5, "WO_OPPONENT5" )
( WO_OPPONENT6, "WO_OPPONENT6" )
( WO_OPPONENT7, "WO_OPPONENT7" )
( WO_OPPONENT8, "WO_OPPONENT8" )
( WO_OPPONENT9, "WO_OPPONENT9" )
( WO_OPPONENT10, "WO_OPPONENT10" )
( WO_OPPONENT11, "WO_OPPONENT11" )
( WO_TEAMMATE_HEAD1, "WO_TEAMMATE_HEAD1" )
( WO_TEAMMATE_HEAD2, "WO_TEAMMATE_HEAD2" )
( WO_TEAMMATE_HEAD3, "WO_TEAMMATE_HEAD3" )
( WO_TEAMMATE_HEAD4, "WO_TEAMMATE_HEAD4" )
( WO_TEAMMATE_HEAD5, "WO_TEAMMATE_HEAD5" )
( WO_TEAMMATE_HEAD6, "WO_TEAMMATE_HEAD6" )
( WO_TEAMMATE_HEAD7, "WO_TEAMMATE_HEAD7" )
( WO_TEAMMATE_HEAD8, "WO_TEAMMATE_HEAD8" )
( WO_TEAMMATE_HEAD9, "WO_TEAMMATE_HEAD9" )
( WO_TEAMMATE_HEAD10, "WO_TEAMMATE_HEAD10" )
( WO_TEAMMATE_HEAD11, "WO_TEAMMATE_HEAD11" )
( WO_OPPONENT_HEAD1, "WO_OPPONENT_HEAD1" )
( WO_OPPONENT_HEAD2, "WO_OPPONENT_HEAD2" )
( WO_OPPONENT_HEAD3, "WO_OPPONENT_HEAD3" )
( WO_OPPONENT_HEAD4, "WO_OPPONENT_HEAD4" )
( WO_OPPONENT_HEAD5, "WO_OPPONENT_HEAD5" )
( WO_OPPONENT_HEAD6, "WO_OPPONENT_HEAD6" )
( WO_OPPONENT_HEAD7, "WO_OPPONENT_HEAD7" )
( WO_OPPONENT_HEAD8, "WO_OPPONENT_HEAD8" )
( WO_OPPONENT_HEAD9, "WO_OPPONENT_HEAD9" )
( WO_OPPONENT_HEAD10, "WO_OPPONENT_HEAD10" )
( WO_OPPONENT_HEAD11, "WO_OPPONENT_HEAD11" )
( WO_TEAMMATE_ARM_L1, "WO_TEAMMATE_ARM_L1" )
( WO_TEAMMATE_ARM_L2, "WO_TEAMMATE_ARM_L2" )
( WO_TEAMMATE_ARM_L3, "WO_TEAMMATE_ARM_L3" )
( WO_TEAMMATE_ARM_L4, "WO_TEAMMATE_ARM_L4" )
( WO_TEAMMATE_ARM_L5, "WO_TEAMMATE_ARM_L5" )
( WO_TEAMMATE_ARM_L6, "WO_TEAMMATE_ARM_L6" )
( WO_TEAMMATE_ARM_L7, "WO_TEAMMATE_ARM_L7" )
( WO_TEAMMATE_ARM_L8, "WO_TEAMMATE_ARM_L8" )
( WO_TEAMMATE_ARM_L9, "WO_TEAMMATE_ARM_L9" )
( WO_TEAMMATE_ARM_L10, "WO_TEAMMATE_ARM_L10" )
( WO_TEAMMATE_ARM_L11, "WO_TEAMMATE_ARM_L11" )
( WO_OPPONENT_ARM_L1, "WO_OPPONENT_ARM_L1" )
( WO_OPPONENT_ARM_L2, "WO_OPPONENT_ARM_L2" )
( WO_OPPONENT_ARM_L3, "WO_OPPONENT_ARM_L3" )
( WO_OPPONENT_ARM_L4, "WO_OPPONENT_ARM_L4" )
( WO_OPPONENT_ARM_L5, "WO_OPPONENT_ARM_L5" )
( WO_OPPONENT_ARM_L6, "WO_OPPONENT_ARM_L6" )
( WO_OPPONENT_ARM_L7, "WO_OPPONENT_ARM_L7" )
( WO_OPPONENT_ARM_L8, "WO_OPPONENT_ARM_L8" )
( WO_OPPONENT_ARM_L9, "WO_OPPONENT_ARM_L9" )
( WO_OPPONENT_ARM_L10, "WO_OPPONENT_ARM_L10" )
( WO_OPPONENT_ARM_L11, "WO_OPPONENT_ARM_L11" )
( WO_TEAMMATE_ARM_R1, "WO_TEAMMATE_ARM_R1" )
( WO_TEAMMATE_ARM_R2, "WO_TEAMMATE_ARM_R2" )
( WO_TEAMMATE_ARM_R3, "WO_TEAMMATE_ARM_R3" )
( WO_TEAMMATE_ARM_R4, "WO_TEAMMATE_ARM_R4" )
( WO_TEAMMATE_ARM_R5, "WO_TEAMMATE_ARM_R5" )
( WO_TEAMMATE_ARM_R6, "WO_TEAMMATE_ARM_R6" )
( WO_TEAMMATE_ARM_R7, "WO_TEAMMATE_ARM_R7" )
( WO_TEAMMATE_ARM_R8, "WO_TEAMMATE_ARM_R8" )
( WO_TEAMMATE_ARM_R9, "WO_TEAMMATE_ARM_R9" )
( WO_TEAMMATE_ARM_R10, "WO_TEAMMATE_ARM_R10" )
( WO_TEAMMATE_ARM_R11, "WO_TEAMMATE_ARM_R11" )
( WO_OPPONENT_ARM_R1, "WO_OPPONENT_ARM_R1" )
( WO_OPPONENT_ARM_R2, "WO_OPPONENT_ARM_R2" )
( WO_OPPONENT_ARM_R3, "WO_OPPONENT_ARM_R3" )
( WO_OPPONENT_ARM_R4, "WO_OPPONENT_ARM_R4" )
( WO_OPPONENT_ARM_R5, "WO_OPPONENT_ARM_R5" )
( WO_OPPONENT_ARM_R6, "WO_OPPONENT_ARM_R6" )
( WO_OPPONENT_ARM_R7, "WO_OPPONENT_ARM_R7" )
( WO_OPPONENT_ARM_R8, "WO_OPPONENT_ARM_R8" )
( WO_OPPONENT_ARM_R9, "WO_OPPONENT_ARM_R9" )
( WO_OPPONENT_ARM_R10, "WO_OPPONENT_ARM_R10" )
( WO_OPPONENT_ARM_R11, "WO_OPPONENT_ARM_R11" )
( WO_TEAMMATE_FOOT_L1, "WO_TEAMMATE_FOOT_L1" )
( WO_TEAMMATE_FOOT_L2, "WO_TEAMMATE_FOOT_L2" )
( WO_TEAMMATE_FOOT_L3, "WO_TEAMMATE_FOOT_L3" )
( WO_TEAMMATE_FOOT_L4, "WO_TEAMMATE_FOOT_L4" )
( WO_TEAMMATE_FOOT_L5, "WO_TEAMMATE_FOOT_L5" )
( WO_TEAMMATE_FOOT_L6, "WO_TEAMMATE_FOOT_L6" )
( WO_TEAMMATE_FOOT_L7, "WO_TEAMMATE_FOOT_L7" )
( WO_TEAMMATE_FOOT_L8, "WO_TEAMMATE_FOOT_L8" )
( WO_TEAMMATE_FOOT_L9, "WO_TEAMMATE_FOOT_L9" )
( WO_TEAMMATE_FOOT_L10, "WO_TEAMMATE_FOOT_L10" )
( WO_TEAMMATE_FOOT_L11, "WO_TEAMMATE_FOOT_L11" )
( WO_OPPONENT_FOOT_L1, "WO_OPPONENT_FOOT_L1" )
( WO_OPPONENT_FOOT_L2, "WO_OPPONENT_FOOT_L2" )
( WO_OPPONENT_FOOT_L3, "WO_OPPONENT_FOOT_L3" )
( WO_OPPONENT_FOOT_L4, "WO_OPPONENT_FOOT_L4" )
( WO_OPPONENT_FOOT_L5, "WO_OPPONENT_FOOT_L5" )
( WO_OPPONENT_FOOT_L6, "WO_OPPONENT_FOOT_L6" )
( WO_OPPONENT_FOOT_L7, "WO_OPPONENT_FOOT_L7" )
( WO_OPPONENT_FOOT_L8, "WO_OPPONENT_FOOT_L8" )
( WO_OPPONENT_FOOT_L9, "WO_OPPONENT_FOOT_L9" )
( WO_OPPONENT_FOOT_L10, "WO_OPPONENT_FOOT_L10" )
( WO_OPPONENT_FOOT_L11, "WO_OPPONENT_FOOT_L11" )
( WO_TEAMMATE_FOOT_R1, "WO_TEAMMATE_FOOT_R1" )
( WO_TEAMMATE_FOOT_R2, "WO_TEAMMATE_FOOT_R2" )
( WO_TEAMMATE_FOOT_R3, "WO_TEAMMATE_FOOT_R3" )
( WO_TEAMMATE_FOOT_R4, "WO_TEAMMATE_FOOT_R4" )
( WO_TEAMMATE_FOOT_R5, "WO_TEAMMATE_FOOT_R5" )
( WO_TEAMMATE_FOOT_R6, "WO_TEAMMATE_FOOT_R6" )
( WO_TEAMMATE_FOOT_R7, "WO_TEAMMATE_FOOT_R7" )
( WO_TEAMMATE_FOOT_R8, "WO_TEAMMATE_FOOT_R8" )
( WO_TEAMMATE_FOOT_R9, "WO_TEAMMATE_FOOT_R9" )
( WO_TEAMMATE_FOOT_R10, "WO_TEAMMATE_FOOT_R10" )
( WO_TEAMMATE_FOOT_R11, "WO_TEAMMATE_FOOT_R11" )
( WO_OPPONENT_FOOT_R1, "WO_OPPONENT_FOOT_R1" )
( WO_OPPONENT_FOOT_R2, "WO_OPPONENT_FOOT_R2" )
( WO_OPPONENT_FOOT_R3, "WO_OPPONENT_FOOT_R3" )
( WO_OPPONENT_FOOT_R4, "WO_OPPONENT_FOOT_R4" )
( WO_OPPONENT_FOOT_R5, "WO_OPPONENT_FOOT_R5" )
( WO_OPPONENT_FOOT_R6, "WO_OPPONENT_FOOT_R6" )
( WO_OPPONENT_FOOT_R7, "WO_OPPONENT_FOOT_R7" )
( WO_OPPONENT_FOOT_R8, "WO_OPPONENT_FOOT_R8" )
( WO_OPPONENT_FOOT_R9, "WO_OPPONENT_FOOT_R9" )
( WO_OPPONENT_FOOT_R10, "WO_OPPONENT_FOOT_R10" )
( WO_OPPONENT_FOOT_R11, "WO_OPPONENT_FOOT_R11" )
( FLAG_1_L, "FLAG_1_L" )
( FLAG_1_R, "FLAG_1_R" )
( FLAG_2_L, "FLAG_2_L" )
( FLAG_2_R, "FLAG_2_R" )
( GOALPOST_1_L, "GOALPOST_1_L" )
( GOALPOST_1_R, "GOALPOST_1_R" )
( GOALPOST_2_L, "GOALPOST_2_L" )
( GOALPOST_2_R, "GOALPOST_2_R" )
( LINE, "LINE" )
;
struct WorldObject {
WorldObject() {
pos.setVecPosition( 0, 0, 0 );
orien = 0;
absVel.setX(0); // currently only used for ball and opponent velocities
absVel.setY(0); // currently only used for ball and opponent velocities
id = -1;
currentlySeen = false;
cycleLastSeen = -1;
timeLastSeen = -1;
currentlySeenOrien = false;
cycleOrienLastSeen = -1;
timeOrienLastSeen = -1;
validPosition = false;
sighting.setVecPosition(0,0,0);
sightingOrien = 0;
haveSighting = false;
sightingTime = -1;
sightingUNum = 0;
}
VecPosition pos; // Global coordinate system position of object
SIM::AngDeg orien; // Global coordinate system orientation of object
// Absolute (global coordinate system) velocity
SIM::Point2D absVel; // currently only used for ball and opponent velocities
int id; // unique id for all objects that can ever be seen
bool currentlySeen; // if we currently see an object
bool currentlySeenOrien; // if we can currently determine object's oreintation
int cycleLastSeen; // Cycle we last saw object
double timeLastSeen; // Time we last saw object
int cycleOrienLastSeen; // Cycle we last determined orientation of object
double timeOrienLastSeen; // Time we last determined orientation of object
bool validPosition; // if we believe the objects's position is valid (we looked at where the object should be and don't see it there)
VisionObject vision;
VecPosition sighting; // Position of object as reported by teammate
SIM::AngDeg sightingOrien; // Orientation of object as reported by teammate
bool haveSighting; // If a teammate has reported seeing object
double sightingTime; // Time of sighting of object by teammate
int sightingUNum; // Uniform number of teammate who reported sighting
vector<VisionObject> lines; // Used for field line observations
};
#endif