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Geometry.h File Reference

#include "math.h"
#include <string>
#include <iostream>

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Compounds
class	Circle
class	Geometry
class	Line
class	Rect
class	VecPosition
Defines
#define	EPSILON   0.0001
Typedefs
typedef double	AngRad
typedef double	AngDeg
Enumerations
enum	CoordSystemT { CARTESIAN, POLAR }
Functions
double	max (double d1, double d2)
double	min (double d1, double d2)
int	sign (double d1)
AngDeg	Rad2Deg (AngRad x)
AngRad	Deg2Rad (AngDeg x)
double	cosDeg (AngDeg x)
double	sinDeg (AngDeg x)
double	tanDeg (AngDeg x)
AngDeg	atanDeg (double x)
double	atan2Deg (double x, double y)
AngDeg	acosDeg (double x)
AngDeg	asinDeg (double x)
bool	isAngInInterval (AngDeg ang, AngDeg angMin, AngDeg angMax)
AngDeg	getBisectorTwoAngles (AngDeg angMin, AngDeg angMax)

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Detailed Description

File:          Geometry.h
Project:       Robocup Soccer Simulation Team: UvA Trilearn
Authors:       Jelle Kok
Created:       12/02/2001
Last Revision: $ID$
Contents:      Header file for the classes VecPosition, Geometry, Line,
               Circle and Rectangle. All the member
               data and member method declarations for all these classes can be
               found in this file together with some auxiliary functions for
               numeric and goniometric purposes.

Changes

Date             Author          Comment
12/02/2001       Jelle Kok       Initial version created
09/06/2001       Remco de Boer   Version including full documentation completed

Definition in file Geometry.h.

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Define Documentation

#define EPSILON   0.0001

Value used for floating point equality tests. Definition at line 63 of file Geometry.h. Referenced by Geometry::abcFormula(), atan2Deg(), Line::getCircleIntersectionPoints(), WorldModel::getFastestInSetTo(), Line::makeLineFromTwoPoints(), WorldModel::predictNrCyclesForDistance(), WorldModel::predictNrCyclesToObject(), DynamicObject::setGlobalVelocity(), VecPosition::setMagnitude(), WorldModel::updateAgentAndBallAfterSense(), and WorldModel::updateParticlesBall().

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Typedef Documentation

typedef double AngDeg

Type definition for angles in radians. Definition at line 61 of file Geometry.h. Referenced by BasicPlayer::accelerateBallToVelocity(), acosDeg(), SenseHandler::analyzeFullStateMessage(), SenseHandler::analyzeSeeGlobalMessage(), asinDeg(), atanDeg(), WorldModel::calculateAngleAgentWithPos(), WorldModel::calculatePosAgentWith2Flags(), WorldModel::calculateStateAgent(), WorldModel::calculateStateAgent2(), WorldModel::calculateStateAgent3(), WorldModel::checkParticlesAgent(), WorldModel::checkParticlesBall(), BasicPlayer::clearBall(), cosDeg(), BasicPlayer::defendGoalLine(), Deg2Rad(), Player::deMeer5_goalie(), BasicPlayer::directTowards(), BasicPlayer::dribble(), BasicPlayer::getActiveInterceptionPointBall(), WorldModel::getActualTurnAngle(), WorldModel::getAgentBodyAngleRelToNeck(), WorldModel::getAgentGlobalBodyAngle(), WorldModel::getAgentGlobalNeckAngle(), WorldModel::getAngleForTurn(), SoccerTypes::getAngleFromDirection(), WorldModel::getBallDirection(), getBisectorTwoAngles(), AgentObject::getBodyAngleRelToNeck(), Player::getDeadBallPosition(), VecPosition::getDirection(), WorldModel::getDirectionOfWidestAngle(), BasicPlayer::getDribblePoint(), WorldModel::getGlobalAngle(), FixedObject::getGlobalAngle(), SoccerTypes::getGlobalAngleLine(), PlayerObject::getGlobalArm(), WorldModel::getGlobalArmDirection(), WorldModel::getGlobalBodyAngle(), PlayerObject::getGlobalBodyAngle(), WorldModel::getGlobalBodyAngleLastSee(), PlayerObject::getGlobalBodyAngleLastSee(), WorldModel::getGlobalNeckAngle(), PlayerObject::getGlobalNeckAngle(), SoccerTypes::getHalfViewAngleValue(), BasicPlayer::getInterceptionPointBall(), Circle::getIntersectionArea(), WorldModel::getMarkingPosition(), WorldModel::getOuterPositionInField(), WorldModel::getPowerForDash(), WorldModel::getProbTackleSucceeds(), WorldModel::getRelativeAngle(), Object::getRelativeAngle(), PlayerObject::getRelativeBodyAngle(), PlayerObject::getRelativeNeckAngle(), BasicPlayer::getShootPositionOnLine(), BasicPlayer::getThroughPassShootingPoint(), VecPosition::getVecPositionFromPolar(), VecPosition::globalToRelative(), BasicPlayer::holdBall(), WorldModel::initParticlesAgent(), WorldModel::initParticlesBall(), BasicPlayer::interceptClose(), BasicPlayer::interceptCloseGoalie(), isAngInInterval(), WorldModel::isCollisionAfterCommand(), WorldModel::isEmptySpace(), WorldModel::isOpponentAtAngle(), BasicPlayer::kickBallCloseToBody(), BasicPlayer::kickTo(), WorldModel::logDrawBallInfo(), Line::makeLineFromPositionAndAngle(), BasicPlayer::mark(), max(), min(), BasicPlayer::moveToPos(), BasicPlayer::moveToPosAlongLine(), VecPosition::normalizeAngle(), BasicPlayer::outplayOpponent(), Player::performPenalty(), WorldModel::predictAgentPosAfterCommand(), WorldModel::predictAgentStateAfterCommand(), WorldModel::predictBallInfoAfterCommand(), WorldModel::predictCommandToInterceptBall(), WorldModel::predictCommandToMoveToPos(), WorldModel::predictCommandTurnTowards(), WorldModel::predictNrCyclesToPoint(), WorldModel::predictObjectStateAfterCommand(), WorldModel::predictStateAfterCommand(), WorldModel::predictStateAfterTurn(), WorldModel::processLastSeeMessage(), WorldModel::processLastSenseMessage(), WorldModel::processNewAgentInfo(), WorldModel::processNewObjectInfo(), WorldModel::processSeeGlobalInfo(), Rad2Deg(), VecPosition::relativeToGlobal(), WorldModel::removeGhosts(), VecPosition::rotate(), BasicPlayer::searchBall(), AgentObject::setBodyAngleRelToNeck(), PlayerObject::setGlobalArm(), PlayerObject::setGlobalBodyAngle(), PlayerObject::setGlobalBodyAngleLastSee(), AgentObject::setGlobalNeckAngle(), PlayerObject::setGlobalNeckAngle(), PlayerObject::setRelativeBodyAngle(), PlayerObject::setRelativeNeckAngle(), Object::setRelativePosition(), sinDeg(), tanDeg(), BasicPlayer::throughPass(), BasicPlayer::turnBackToPoint(), BasicPlayer::turnBodyToPoint(), BasicPlayer::turnNeckToPoint(), BasicPlayer::turnWithBallTo(), WorldModel::updateAgentAndBallAfterSense(), WorldModel::updateAgentObjectAfterSee(), WorldModel::updateBallForCollision(), WorldModel::updateDynamicObjectAfterSee(), WorldModel::updateDynamicObjectForNextCycle(), and WorldModel::updateParticlesBall().

typedef double AngRad

Type definition for angles in degrees. Definition at line 60 of file Geometry.h. Referenced by Deg2Rad(), max(), and Rad2Deg().

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Enumeration Type Documentation

enum CoordSystemT

CoordSystem is an enumeration of the different specified coordinate systems. The two possibilities are CARTESIAN or POLAR. These values are for instance used in the initializing a VecPosition. The CoordSystem indicates whether the supplied arguments represent the position in cartesian or in polar coordinates. Enumeration values: CARTESIAN  POLAR  Definition at line 93 of file Geometry.h. Referenced by acosDeg(), atan2Deg(), VecPosition::setVecPosition(), VecPosition::show(), sinDeg(), VecPosition::str(), and VecPosition::VecPosition().

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Function Documentation

AngDeg acosDeg (  double    x )

This function returns the principal value of the arc cosine of x in degrees using the built-in arc cosine function which returns this value in radians. Parameters: x  a double value Returns: the arc cosine of the given value in degrees Definition at line 161 of file Geometry.cpp. References AngDeg, CARTESIAN, and CoordSystemT.

AngDeg asinDeg (  double    x )

This function returns the principal value of the arc sine of x in degrees using the built-in arc sine function which returns this value in radians. Parameters: x  a double value Returns: the arc sine of the given value in degrees Definition at line 175 of file Geometry.cpp. References AngDeg. Referenced by BasicPlayer::accelerateBallToVelocity(), and BasicPlayer::kickTo().

double atan2Deg (  double    x, double    y )

This function returns the principal value of the arc tangent of y/x in degrees using the signs of both arguments to determine the quadrant of the return value. For this the built-in 'atan2' function is used which returns this value in radians. Parameters: x  a double value y  a double value Returns: the arc tangent of y/x in degrees taking the signs of x and y into account Definition at line 149 of file Geometry.cpp. References CARTESIAN, and CoordSystemT. Referenced by WorldModel::calculateAngleAgentWithPos(), getBisectorTwoAngles(), and VecPosition::getDirection().

AngDeg atanDeg (  double    x )

This function returns the principal value of the arc tangent of x in degrees using the built-in arc tangent function which returns this value in radians. Parameters: x  a double value Returns: the arc tangent of the given value in degrees Definition at line 136 of file Geometry.cpp.

double cosDeg (  AngDeg    x )

This function returns the cosine of a given angle in degrees using the built-in cosine function that works with angles in radians. Parameters: x  an angle in degrees Returns: the cosine of the given angle Definition at line 108 of file Geometry.cpp. Referenced by WorldModel::calculateAngleAgentWithPos(), WorldModel::calculateVelocityDynamicObject(), getBisectorTwoAngles(), VecPosition::getVecPositionFromPolar(), and WorldModel::initParticlesBall().

AngRad Deg2Rad (  AngDeg    x )

This function converts an angle in degrees to the corresponding angle in radians. Parameters: x  an angle in degrees Returns: the corresponding angle in radians Definition at line 99 of file Geometry.cpp. Referenced by WorldModel::calculateVelocityDynamicObject(), cosDeg(), WorldModel::initParticlesBall(), sinDeg(), and tanDeg().

AngDeg getBisectorTwoAngles (  AngDeg    angMin, AngDeg    angMax )

This method returns the bisector (average) of two angles. It deals with the boundary problem, thus when 'angMin' equals 170 and 'angMax' equals -100, -145 is returned. Parameters: angMin  minimum angle [-180,180] angMax  maximum angle [-180,180] Returns: average of angMin and angMax. Definition at line 212 of file Geometry.cpp. Referenced by WorldModel::getDirectionOfWidestAngle(), and WorldModel::getMarkingPosition().

bool isAngInInterval (  AngDeg    ang, AngDeg    angMin, AngDeg    angMax )

This function returns a boolean value which indicates whether the value 'ang' (from interval [-180..180] lies in the interval [angMin..angMax]. Examples: isAngInInterval( -100, 4, -150) returns false isAngInInterval( 45, 4, -150) returns true Parameters: ang  angle that should be checked angMin  minimum angle in interval angMax  maximum angle in interval Returns: boolean indicating whether ang lies in [angMin..angMax] Definition at line 193 of file Geometry.cpp. References AngDeg. Referenced by BasicPlayer::mark(), and BasicPlayer::searchBall().

double max (  double    d1, double    d2 )

This function returns the maximum of two given doubles. Parameters: d1  first parameter d2  second parameter Returns: the maximum of these two parameters Definition at line 71 of file Geometry.cpp. References AngDeg, and AngRad. Referenced by BasicPlayer::clearBall(), Object::getConfidence(), WorldModel::getDirectionOfWidestAngle(), WorldModel::getFastestInSetTo(), WorldModel::getMinMaxDistChange(), WorldModel::getOffsideX(), WorldModel::getProbTackleSucceeds(), BasicPlayer::getShootPositionOnLine(), WorldModel::getStrategicPosition(), WorldModel::getTackleExpires(), WorldModel::invQuantizeMin(), Player::makeBallInfo(), WorldModel::predictCommandToInterceptBall(), WorldModel::predictNrCyclesForDistance(), WorldModel::predictNrCyclesToObject(), WorldModel::predictNrCyclesToPoint(), Player::sayOppAttackerStatus(), SenseHandler::SenseHandler(), and Rect::setRectanglePoints().

double min (  double    d1, double    d2 )

This function returns the minimum of two given doubles. Parameters: d1  first parameter d2  second parameter Returns: the minimum of these two parameters Definition at line 80 of file Geometry.cpp. References AngDeg. Referenced by WorldModel::createInterceptFeatures(), BasicPlayer::freezeBall(), WorldModel::getDirectionOfWidestAngle(), Circle::getIntersectionArea(), WorldModel::getMarkingPosition(), WorldModel::getMinMaxDistChange(), WorldModel::getProbTackleSucceeds(), BasicPlayer::getShootPositionOnLine(), WorldModel::getStrategicPosition(), Player::makeBallInfo(), BasicPlayer::outplayOpponent(), WorldModel::predictCommandToInterceptBall(), WorldModel::predictCommandTurnTowards(), SenseHandler::SenseHandler(), and Rect::setRectanglePoints().

AngDeg Rad2Deg (  AngRad    x )

This function converts an angle in radians to the corresponding angle in degrees. Parameters: x  an angle in radians Returns: the corresponding angle in degrees Definition at line 90 of file Geometry.cpp. Referenced by acosDeg(), asinDeg(), atan2Deg(), atanDeg(), and WorldModel::checkParticlesBall().

int sign (  double    d1 )

This function returns the sign of a give double. 1 is positive, -1 is negative Parameters: d1  first parameter Returns: the sign of this double Definition at line 62 of file Geometry.cpp. Referenced by WorldModel::calculateStateBall(), BasicPlayer::defendGoalLine(), BasicPlayer::dribble(), Player::getDeadBallPosition(), WorldModel::getMarkingPosition(), Formations::getStrategicPosition(), BasicPlayer::holdBall(), BasicPlayer::interceptScoringAttempt(), BasicPlayer::kickBallCloseToBody(), and WorldModel::updateAgentAndBallAfterSense().

double sinDeg (  AngDeg    x )

This function returns the sine of a given angle in degrees using the built-in sine function that works with angles in radians. Parameters: x  an angle in degrees Returns: the sine of the given angle Definition at line 117 of file Geometry.cpp. References CARTESIAN, and CoordSystemT. Referenced by WorldModel::calculateAngleAgentWithPos(), WorldModel::calculateVelocityDynamicObject(), getBisectorTwoAngles(), VecPosition::getVecPositionFromPolar(), and WorldModel::initParticlesBall().

double tanDeg (  AngDeg    x )

This function returns the tangent of a given angle in degrees using the built-in tangent function that works with angles in radians. Parameters: x  an angle in degrees Returns: the tangent of the given angle Definition at line 126 of file Geometry.cpp.

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