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208 | #ifndef ROLEDECISIONASSIGNMENTDISTANCE_H
#define ROLEDECISIONASSIGNMENTDISTANCE_H
#include <ModuleFramework/Module.h>
#include "Tools/StringTools.h"
#include "Tools/DataStructures/ParameterList.h"
#include "Tools/Debug/DebugRequest.h"
#include "Tools/Debug/DebugParameterList.h"
#include "Representations/Infrastructure/FrameInfo.h"
#include "Representations/Infrastructure/Roles.h"
#include "Representations/Modeling/TeamMessage.h"
#include "Representations/Modeling/TeamMessageStatistics.h"
#include "Representations/Modeling/TeamMessagePlayersState.h"
#include "Representations/Modeling/PlayerInfo.h"
#include "Representations/Modeling/RoleDecisionModel.h"
BEGIN_DECLARE_MODULE(RoleDecisionAssignmentDistance)
PROVIDE(DebugRequest)
PROVIDE(DebugParameterList)
REQUIRE(FrameInfo)
REQUIRE(GameData)
REQUIRE(Roles)
REQUIRE(PlayerInfo)
REQUIRE(TeamMessage)
REQUIRE(TeamMessageStatistics)
REQUIRE(TeamMessagePlayersState)
PROVIDE(RoleDecisionModel)
END_DECLARE_MODULE(RoleDecisionAssignmentDistance);
class RoleDecisionAssignmentDistance : public RoleDecisionAssignmentDistanceBase
{
public:
RoleDecisionAssignmentDistance();
virtual ~RoleDecisionAssignmentDistance();
virtual void execute();
private:
class Parameters: public ParameterList
{
public:
Parameters() : ParameterList("RoleDecisionAssignmentDistance")<--- Member variable 'Parameters::variantFunc' is not initialized in the constructor.<--- Member variable 'Parameters::changingFunc' is not initialized in the constructor.
{
// the initial assignments, they don't have to be the active ones
PARAMETER_REGISTER(assignment, &Parameters::parseAssignment) = "1:goalie;2:defender_left;3:forward_center;4:defender_right;5:midfielder_right;6:midfielder_left";
PARAMETER_REGISTER(variant, &Parameters::setVariantFunction) = "priodist"; // "distance", "priority", "priodist"
PARAMETER_REGISTER(changing, &Parameters::setChangingFunction) = "time"; // "cycle", "time"
PARAMETER_REGISTER(minChangingCycles) = 30;
PARAMETER_REGISTER(minChangingTime) = 1.5; // upper bound, when to change
// load from the file after registering all parameters
syncWithConfig();
}
int minChangingCycles;
double minChangingTime;
std::string assignment;
std::map<unsigned int, Roles::Static> assignment_role;
std::string variant;
void (RoleDecisionAssignmentDistance::*variantFunc)(std::map<unsigned int, Roles::Static>&);
std::string changing;
void (RoleDecisionAssignmentDistance::*changingFunc)(std::map<unsigned int, Roles::Static>&);
private:
/**
* @brief If the 'assignment' parameter changes, the new value is parsed and the new role
* assignments are applied. An assignment is 'playernumber:role' and every assignment
* is seperated by a ';'.
* Eg.: "1:goalie;2:defender_left"
*
* @param assign
*/
void parseAssignment(std::string assign) {
// clear the 'old' assignments
assignment_role.clear();
std::vector<std::string> parts = StringTools::split(assign, ';');
for(const std::string& part : parts) {
std::vector<std::string> assign_part = StringTools::split(part, ':');
ASSERT(assign_part.size() == 2);
assignment_role[static_cast<unsigned int>(std::stoul(assign_part[0]))] = Roles::getStaticRole(assign_part[1]);
}
}
/**
* @brief If the 'variant' parameter changes, the corresponding function pointer is set
* to the correct method.
* Recognized values: "distance", "priority" (default)
*
* @param variant new parameter value
*/
void setVariantFunction(std::string variant) {
if(variant.compare("distance") == 0) { // distance
variantFunc = &RoleDecisionAssignmentDistance::withDistance;
} else if(variant.compare("priodist") == 0) { // priodist
variantFunc = &RoleDecisionAssignmentDistance::withPriorityDistance;
} else { // priority
variantFunc = &RoleDecisionAssignmentDistance::withPriority;
}
}
/**
* @brief If the 'changing' parameter changes, the corresponding function pointer is set
* to the correct method.
* Recognized values: "time", "cycle" (default)
*
* @param changing new parameter value
*/
void setChangingFunction(std::string changing) {
if(changing.compare("time") == 0) { // time
changingFunc = &RoleDecisionAssignmentDistance::roleChangeByTime;
} else { // cycle
changingFunc = &RoleDecisionAssignmentDistance::roleChangeByCycle;
}
}
} params;
/** Holds the decision of the last cycles and a 'counter' for how long this decision is made. */
std::map<unsigned int, std::pair<double, Roles::Static>> role_changes;
/**
* @brief Changes the role of the RoleDecisionModel of the given player to the given role
* and resets the internal role change counter (see role_changes).
*
* @param playernumber the player, who should get the new role
* @param role the role the player should get
*/
void roleChange(unsigned int playernumber, Roles::Static role);
/**
* @brief Finds the 'goalie' role in the current role assignment and keeps the role for the
* next decision.
*
* @param new_roles the role decision for the current cycle
*/
void keepGoalie(std::map<unsigned int, Roles::Static>& new_roles);
/**
* @brief Returns the time in seconds, when a player should take its new role.
* Therefore the parameter 'minChangingTime' or the avg. message receiving time
* (if available) is used.
*
* @param player the player number for which the avg. receiving time should be used
* @return time in fractions of a second
*/
double getMinChangingTime(unsigned int player);
/**
* @brief Determines for each role, which player is closest and sets the role for that
* player.
*
* @param new_roles the role decision for the current cycle
*/
void withPriority(std::map<unsigned int, Roles::Static>& new_roles);
/**
* @brief Determines the optimal role assignment for the whole team in that the sum
* of distance the team has to move is small.
*
* @param new_roles the role decision for the current cycle
*/
void withDistance(std::map<unsigned int, Roles::Static>& new_roles);
/**
* @brief Determines the optimal role assignment for the whole team in that the sum
* of distance the team has to move is small and also the roles with the highest
* priority are assigned.
*
* @param new_roles the role decision for the current cycle
*/
void withPriorityDistance(std::map<unsigned int, Roles::Static>& new_roles);
/**
* @brief Finds the optimal role assignments for the given roles and players.
* @param roles the roles, which should be assigned
* @param players the players, which should be roles assigned
* @param new_roles the players with the newly assigned roles
*/
void findOptimalTeamAssignment(const std::vector<Roles::Static> &roles, const std::vector<unsigned int> &players, std::map<unsigned int, Roles::Static>& new_roles);
/**
* @brief The role decision for this cycle is only applied, if the role decicion was
* was the same for the last 'minChangingCycles' (see parameters).
* This should prevent oscillations in the role assignments.
*
* @param new_roles the role decision for the current cycle
*/
void roleChangeByCycle(std::map<unsigned int, Roles::Static>& new_roles);
/**
* @brief The role decision for this cycle is only applied, if the role decicion was
* was the same for the last 'minChangingTime' seconds (see parameters &
* getMinChangingTime()).
* This should prevent oscillations in the role assignments.
*
* @param new_roles the role decision for the current cycle
*/
void roleChangeByTime(std::map<unsigned int, Roles::Static>& new_roles);
};
#endif // ROLEDECISIONASSIGNMENTDISTANCE_H
|