---

SoccerCommand Class Reference

#include <SoccerTypes.h>

Collaboration diagram for SoccerCommand:

[legend]List of all members.

Public Methods
	SoccerCommand (CommandT com=CMD_ILLEGAL, double d1=UnknownDoubleValue, double d2=UnknownDoubleValue, double d3=UnknownDoubleValue)
	SoccerCommand (CommandT com, char *msg)
void	makeCommand (CommandT com, double d1=UnknownDoubleValue, double d2=UnknownDoubleValue, double d3=UnknownDoubleValue)
void	makeCommand (CommandT com, ViewAngleT v, ViewQualityT q)
void	makeCommand (CommandT com, char *msg)
bool	isIllegal ()
void	show (ostream &os)
bool	getCommandString (char *str, ServerSettings *ss)
Public Attributes
Time	time
CommandT	commandType
double	dAngle
double	dPower
ViewQualityT	vq
ViewAngleT	va
double	dX
double	dY
char	str [MAX_SAY_MSG]
int	iTimes
Private Methods
bool	makeCatchCommand (char *str)
bool	makeChangeViewCommand (char *str)
bool	makeDashCommand (char *str)
bool	makeKickCommand (char *str)
bool	makeMoveCommand (char *str)
bool	makeSayCommand (char *str)
bool	makeSenseBodyCommand (char *str)
bool	makeTurnCommand (char *str)
bool	makeTurnNeckCommand (char *str)
bool	makeChangePlayerCommand (char *str)
bool	makeAttentionToCommand (char *str)
bool	makeTackleCommand (char *str)
bool	makePointToCommand (char *str)
Private Attributes
ServerSettings *	SS

---

Detailed Description

This class resembles a SoccerCommand that contains all the information about a command that can be sent to the server, but the format is independent from the server implementation. A SoccerCommand can be created and before it is sent to the server, be converted to the actual string representation understood by the server.

Definition at line 578 of file SoccerTypes.h.

---

Constructor & Destructor Documentation

SoccerCommand::SoccerCommand (  CommandT    com = CMD_ILLEGAL, double    d1 = UnknownDoubleValue, double    d2 = UnknownDoubleValue, double    d3 = UnknownDoubleValue )

This is a constructor for the SoccerCommand class. It creates a command using the passed arguments (with all default illegal values). Depending on the specified CommandT the parameters are used in different ways. See the method makeCommand for an explanation of these values. Parameters: com  commandType for this SoccerCommand d1  1st argument, meaning depends on com (default UnknownDoubleValue) d2  2nd argument, meaning depends on com (default UnknownDoubleValue) d3  3rd argument, meaning depends on com (default UnknownDoubleValue) Returns: SoccerCommand with the specified parameters. Definition at line 462 of file SoccerTypes.cpp. References CMD_CHANGEVIEW, CMD_SAY, CommandT, commandType, dAngle, dPower, iTimes, makeCommand(), str, UnknownDoubleValue, va, VA_ILLEGAL, ViewAngleT, ViewQualityT, vq, and VQ_ILLEGAL.

SoccerCommand::SoccerCommand (  CommandT    com, char *    msg )

This is a constructor for the SoccerCommand when the commandType is a say message. Parameters: com  commandType for this SoccerCommand (must be CMD_SAY). msg  message for this SoccerCommand Definition at line 482 of file SoccerTypes.cpp. References CommandT, and makeCommand().

---

Member Function Documentation

bool SoccerCommand::getCommandString (  char *    str, ServerSettings *    ss )

This method returns a command string that is understood by the server from a SoccerCommand. The resulting string is put in the second argument and returned by the method. A reference to ServerSettings is passed as the second argument to check whether the values in the SoccerCommand are legal. Parameters: str  resulting string (enough space for MAX_MSG should be allocated) ss  reference to serversettings class. Returns: resulting boolean indicating whether error occurred or not Definition at line 640 of file SoccerTypes.cpp. References CMD_ATTENTIONTO, CMD_CATCH, CMD_CHANGEPLAYER, CMD_CHANGEVIEW, CMD_DASH, CMD_ILLEGAL, CMD_KICK, CMD_MOVE, CMD_POINTTO, CMD_SAY, CMD_SENSEBODY, CMD_TACKLE, CMD_TURN, CMD_TURNNECK, makeAttentionToCommand(), makeCatchCommand(), makeChangePlayerCommand(), makeChangeViewCommand(), makeDashCommand(), makeKickCommand(), makeMoveCommand(), makePointToCommand(), makeSayCommand(), makeSenseBodyCommand(), makeTackleCommand(), makeTurnCommand(), makeTurnNeckCommand(), SS, and str. Referenced by ActHandler::sendCommand(), ActHandler::sendCommandDirect(), and ActHandler::sendCommands().

bool SoccerCommand::isIllegal (    )

This method returns whether this SoccerCommand is illegal, that is the SoccerCommand hasn't been filled yet. This means that no command would be performed when this command is sent to the server. Returns: bool indicating whether the current Command is illegal Definition at line 626 of file SoccerTypes.cpp. References CMD_ILLEGAL, and commandType. Referenced by BasicPlayer::interceptClose(), BasicPlayer::interceptScoringAttempt(), Player::performPenalty(), WorldModel::predictCommandToInterceptBall(), WorldModel::predictCommandToMoveToPos(), BasicPlayer::turnWithBallTo(), and WorldModel::updateAll().

bool SoccerCommand::makeAttentionToCommand (  char *    str )  [private]

This method makes a attentionto command from a SoccerCommand and puts the result in str. Resulting string looks like: (attentionto opp|our dY). Where 'opp' is used when dX < 0 and 'our' otherwise. dY stands for the player number of the team we want to pay attention to. When dY equals -1.0 the command (attentionto off) is created. Enough space should be allocated for str. Parameters: command  SoccerCommand that is a attentionto command str  string that will be filled with the corresponding SoccerCommand Returns: bool indicating whether string is filled or not Definition at line 885 of file SoccerTypes.cpp. References dX, dY, MAX_TEAMMATES, and str. Referenced by getCommandString().

bool SoccerCommand::makeCatchCommand (  char *    str )  [private]

This method makes a catch command from a SoccerCommand and puts the result in str. Resulting string looks like: (catch dAngle). Enough space should be allocated for str. Parameters: command  SoccerCommand that is a catch command str  string that will be filled with the corresponding SoccerCommand Returns: bool indicating whether string is filled or not Definition at line 676 of file SoccerTypes.cpp. References dAngle, ServerSettings::getMaxMoment(), ServerSettings::getMinMoment(), SS, and str. Referenced by getCommandString().

bool SoccerCommand::makeChangePlayerCommand (  char *    str )  [private]

This method makes a change_player_type command from a SoccerCommand and puts the result in str. Resulting string looks like: (change_player_type dX dY). Where dX stands for the teammate that should be changed and dY for the heterogenous player that it should become. Enough space should be allocated for str. Parameters: command  SoccerCommand that is a turn_neck command str  string that will be filled with the corresponding SoccerCommand Returns: bool indicating whether string is filled or not Definition at line 860 of file SoccerTypes.cpp. References dX, dY, MAX_HETERO_PLAYERS, MAX_TEAMMATES, and str. Referenced by getCommandString().

bool SoccerCommand::makeChangeViewCommand (  char *    str )  [private]

This method makes a change view command from a SoccerCommand and puts the result in str. Resulting string looks like: (change_view va vq). Enough space should be allocated for str. Parameters: command  SoccerCommand that is a change view command str  string that will be filled with the corresponding SoccerCommand Returns: bool indicating whether string is filled or not Definition at line 695 of file SoccerTypes.cpp. References SoccerTypes::getViewAngleStr(), SoccerTypes::getViewQualityStr(), str, va, VA_ILLEGAL, vq, and VQ_ILLEGAL. Referenced by getCommandString().

void SoccerCommand::makeCommand (  CommandT    com, char *    msg )

This method creates a command for the command type CMD_SAY that accepts a string as parameter. Parameters: com  command type specifying the kind of command. msg  string message that is added to the say message. Definition at line 562 of file SoccerTypes.cpp. References CMD_SAY, CommandT, commandType, and str.

void SoccerCommand::makeCommand (  CommandT    com, ViewAngleT    v, ViewQualityT    q )

This method creates a SoccerCommand for the command type CMD_CHANGEVIEW. Parameters: com  command type specifying the kind of command v  view angle for the change view command q  view quality for the change view command Definition at line 548 of file SoccerTypes.cpp. References CMD_CHANGEVIEW, CommandT, commandType, va, ViewAngleT, ViewQualityT, and vq.

void SoccerCommand::makeCommand (  CommandT    com, double    d1 = UnknownDoubleValue, double    d2 = UnknownDoubleValue, double    d3 = UnknownDoubleValue )

This method create a SoccerCommand from the specified command type and the parameters. The parameters have a different meaning depending on the given command type. Not all command types are listed, since the other command types need different parameters. So see the other overloaded methods for that. CMD_DASH: d1 = power for dashing CMD_TURN: d1 = angle body is turned CMD_TURNNECK d1 = angle neck is turned CMD_KICK d1 = power for kick command, d2 = angle for kick CMD_MOVE d1 = x position, d2 = y position, d3 = body_angle CMD_CATCH d1 = catch angle CMD_CHANGEPLAYER d1 = player number, d2 = nr of new player type CMD_ATTENTIONTO d1 = which team, d2 = player number CMD_TACKLE d1 = power of the tackle Parameters: com  command type specifying the kind of command d1  meaning depends on the specified command type (see above) d2  meaning depends on the specified command type (see above) d3  meaning depends on the specified command type (see above) Definition at line 505 of file SoccerTypes.cpp. References CMD_ATTENTIONTO, CMD_CATCH, CMD_CHANGEPLAYER, CMD_DASH, CMD_KICK, CMD_MOVE, CMD_POINTTO, CMD_TACKLE, CMD_TURN, CMD_TURNNECK, CommandT, commandType, dAngle, dPower, dX, dY, and UnknownDoubleValue. Referenced by Player::deMeer5_goalie(), Player::executeStringCommand(), SoccerCommand(), and BasicCoach::substitutePlayer().

bool SoccerCommand::makeDashCommand (  char *    str )  [private]

This method makes a dash command from a SoccerCommand and puts the result in str. Resulting string looks like: (dash dPower). Enough space should be allocated for str. Parameters: command  SoccerCommand that is a dash command str  string that will be filled with the corresponding SoccerCommand Returns: bool indicating whether string is filled or not Definition at line 717 of file SoccerTypes.cpp. References dPower, ServerSettings::getMaxPower(), ServerSettings::getMinPower(), SS, and str. Referenced by getCommandString().

bool SoccerCommand::makeKickCommand (  char *    str )  [private]

This method makes a kick command from a SoccerCommand and puts the result in str. Resulting string looks like: (kick dPower dAngle). Enough space should be allocated for str. Parameters: command  SoccerCommand that is a kick command str  string that will be filled with the corresponding SoccerCommand Returns: bool indicating whether string is filled or not Definition at line 739 of file SoccerTypes.cpp. References dAngle, dPower, ServerSettings::getMaxMoment(), ServerSettings::getMaxPower(), ServerSettings::getMinMoment(), ServerSettings::getMinPower(), SS, and str. Referenced by getCommandString().

bool SoccerCommand::makeMoveCommand (  char *    str )  [private]

This method makes a move command from a SoccerCommand and puts the result in str. Resulting string looks like: (move dX dY). Enough space should be allocated for str. Parameters: command  SoccerCommand that is a move command str  string that will be filled with the corresponding SoccerCommand Returns: bool indicating whether string is filled or not Definition at line 760 of file SoccerTypes.cpp. References dX, dY, PITCH_LENGTH, PITCH_MARGIN, PITCH_WIDTH, and str. Referenced by getCommandString().

bool SoccerCommand::makePointToCommand (  char *    str )  [private]

This method makes a pointto command from a SoccerCommand and puts the result in str. Resulting string looks like: (pointto dist dir | off)). When dX is smaller than -1.0 the command (pointto off) is created. Enough space should be allocated for str. Parameters: command  SoccerCommand that is a pointto command str  string that will be filled with the corresponding SoccerCommand Returns: bool indicating whether string is filled or not Definition at line 939 of file SoccerTypes.cpp. References dX, dY, ServerSettings::getMaxMoment(), ServerSettings::getMinMoment(), SS, and str. Referenced by getCommandString().

bool SoccerCommand::makeSayCommand (  char *    str_com )  [private]

This method makes a say command from a SoccerCommand and puts the result in str. Resulting string looks like: (say str). Enough space should be allocated for str. Parameters: command  SoccerCommand that is a say command str_com  string that will be filled with corresponding SoccerCommand Returns: bool indicating whether string is filled or not Definition at line 783 of file SoccerTypes.cpp. References str. Referenced by getCommandString().

bool SoccerCommand::makeSenseBodyCommand (  char *    str )  [private]

This method makes a sense_body command from a SoccerCommand and puts the result in str. Resulting string looks like: (sense_body). Enough space should be allocated for str. Parameters: str  string that will be filled with the corresponding SoccerCommand Returns: bool indicating whether string is filled or not Definition at line 800 of file SoccerTypes.cpp. References str. Referenced by getCommandString().

bool SoccerCommand::makeTackleCommand (  char *    str )  [private]

This method makes a tackle command from a SoccerCommand and puts the result in str. Resulting string looks like: (tackle dPower). Enough space should be allocated for str. Parameters: command  SoccerCommand that is a tackle command str  string that will be filled with the corresponding SoccerCommand Returns: bool indicating whether string is filled or not Definition at line 917 of file SoccerTypes.cpp. References dPower, ServerSettings::getMaxPower(), ServerSettings::getMinPower(), SS, and str. Referenced by getCommandString().

bool SoccerCommand::makeTurnCommand (  char *    str )  [private]

This method makes a turn command from a SoccerCommand and puts the result in str. Resulting string looks like: (turn dAngle). Enough space should be allocated for str. Parameters: command  SoccerCommand that is a turn command str  string that will be filled with the corresponding SoccerCommand Returns: bool indicating whether string is filled or not Definition at line 812 of file SoccerTypes.cpp. References dAngle, ServerSettings::getMaxMoment(), ServerSettings::getMinMoment(), SS, and str. Referenced by getCommandString().

bool SoccerCommand::makeTurnNeckCommand (  char *    str )  [private]

This method makes a turn_neck command from a SoccerCommand and puts the result in str. Resulting string looks like: (turn_neck dAngle). Enough space should be allocated for str. Parameters: command  SoccerCommand that is a turn_neck command str  string that will be filled with the corresponding SoccerCommand Returns: bool indicating whether string is filled or not Definition at line 834 of file SoccerTypes.cpp. References dAngle, ServerSettings::getMaxNeckMoment(), ServerSettings::getMinNeckMoment(), SS, and str. Referenced by getCommandString().

void SoccerCommand::show (  ostream &    os )

This method prints the current command to the specified output stream. Parameters: os  output stream to which information is printed. Definition at line 571 of file SoccerTypes.cpp. References CMD_ATTENTIONTO, CMD_CATCH, CMD_CHANGEPLAYER, CMD_DASH, CMD_ILLEGAL, CMD_KICK, CMD_MOVE, CMD_POINTTO, CMD_SAY, CMD_SENSEBODY, CMD_TACKLE, CMD_TURN, CMD_TURNNECK, commandType, dAngle, dPower, dX, dY, and str. Referenced by WorldModel::showQueuedCommands().

---

Member Data Documentation

CommandT SoccerCommand::commandType

type of this command Definition at line 603 of file SoccerTypes.h. Referenced by Player::deMeer5(), ActHandler::emptyQueue(), Player::executeStringCommand(), BasicPlayer::intercept(), BasicPlayer::interceptClose(), WorldModel::isCollisionAfterCommand(), isIllegal(), ActHandler::isQueueEmpty(), makeCommand(), Player::performPenalty(), WorldModel::predictBallInfoAfterCommand(), WorldModel::predictCommandToInterceptBall(), WorldModel::predictNrCyclesToPoint(), WorldModel::predictStateAfterCommand(), WorldModel::processQueuedCommands(), ActHandler::putCommandInQueue(), Player::sayBallStatus(), ActHandler::sendCommandDirect(), ActHandler::sendCommands(), show(), WorldModel::showQueuedCommands(), SoccerCommand(), WorldModel::updateAgentAndBallAfterSense(), and WorldModel::WorldModel().

double SoccerCommand::dAngle

angle of this command (for turn,turn_neck) Definition at line 604 of file SoccerTypes.h. Referenced by Player::executeStringCommand(), makeCatchCommand(), makeCommand(), makeKickCommand(), makeTurnCommand(), makeTurnNeckCommand(), WorldModel::predictBallInfoAfterCommand(), WorldModel::predictCommandTurnTowards(), WorldModel::predictStateAfterCommand(), BasicPlayer::searchBall(), show(), and SoccerCommand().

double SoccerCommand::dPower

power of this command (for kick,dash) Definition at line 605 of file SoccerTypes.h. Referenced by BasicPlayer::collideWithBall(), Player::deMeer5(), BasicPlayer::dribble(), Player::executeStringCommand(), makeCommand(), makeDashCommand(), makeKickCommand(), makeTackleCommand(), Player::performPenalty(), WorldModel::predictBallInfoAfterCommand(), WorldModel::predictNrCyclesToPoint(), WorldModel::predictStateAfterCommand(), show(), and SoccerCommand().

double SoccerCommand::dX

x coordinate (for move) Definition at line 608 of file SoccerTypes.h. Referenced by Player::executeStringCommand(), makeAttentionToCommand(), makeChangePlayerCommand(), makeCommand(), makeMoveCommand(), makePointToCommand(), WorldModel::predictStateAfterCommand(), and show().

double SoccerCommand::dY

y coordinate (for move) Definition at line 609 of file SoccerTypes.h. Referenced by Player::executeStringCommand(), makeAttentionToCommand(), makeChangePlayerCommand(), makeCommand(), makeMoveCommand(), makePointToCommand(), WorldModel::predictStateAfterCommand(), and show().

int SoccerCommand::iTimes

how many cycles will a command be sent Definition at line 611 of file SoccerTypes.h. Referenced by Player::executeStringCommand(), ActHandler::sendCommands(), and SoccerCommand().

ServerSettings* SoccerCommand::SS [private]

ServerSettings are used to check ranges of command Definition at line 580 of file SoccerTypes.h. Referenced by getCommandString(), makeCatchCommand(), makeDashCommand(), makeKickCommand(), makePointToCommand(), makeTackleCommand(), makeTurnCommand(), and makeTurnNeckCommand().

char SoccerCommand::str[MAX_SAY_MSG]

str (for say) Definition at line 610 of file SoccerTypes.h. Referenced by Player::executeStringCommand(), getCommandString(), makeAttentionToCommand(), makeCatchCommand(), makeChangePlayerCommand(), makeChangeViewCommand(), makeCommand(), makeDashCommand(), makeKickCommand(), makeMoveCommand(), makePointToCommand(), makeSayCommand(), makeSenseBodyCommand(), makeTackleCommand(), makeTurnCommand(), makeTurnNeckCommand(), show(), and SoccerCommand().

Time SoccerCommand::time

command time, will be set by worldmodel Definition at line 602 of file SoccerTypes.h. Referenced by WorldModel::isQueuedActionPerformed(), WorldModel::processQueuedCommands(), and WorldModel::updateAgentAndBallAfterSense().

ViewAngleT SoccerCommand::va

view angle (for change_view) Definition at line 607 of file SoccerTypes.h. Referenced by Player::executeStringCommand(), makeChangeViewCommand(), makeCommand(), SoccerCommand(), and WorldModel::updateAll().

ViewQualityT SoccerCommand::vq

view quality (for change_view) Definition at line 606 of file SoccerTypes.h. Referenced by Player::executeStringCommand(), makeChangeViewCommand(), makeCommand(), SoccerCommand(), and WorldModel::updateAll().

---

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

• SoccerTypes.h
• SoccerTypes.cpp

---