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194 | #ifndef ROLEDECISIONPOSITIONPOTENTIALFIELD_H
#define ROLEDECISIONPOSITIONPOTENTIALFIELD_H
#include <ModuleFramework/Module.h>
#include <Tools/DataStructures/ParameterList.h>
#include "Tools/Debug/DebugRequest.h"
#include "Tools/Debug/DebugDrawings.h"
#include "Tools/Debug/DebugParameterList.h"
#include "Tools/StringTools.h"
#include "Tools/Math/Geometry.h"
#include "Representations/Infrastructure/FieldInfo.h"
#include "Representations/Infrastructure/Roles.h"
#include "Representations/Modeling/RoleDecisionModel.h"
#include "Representations/Modeling/TeamBallModel.h"
BEGIN_DECLARE_MODULE(RoleDecisionPositionPotentialField)
PROVIDE(DebugRequest)
PROVIDE(DebugDrawings)
PROVIDE(DebugParameterList)
REQUIRE(FieldInfo)
REQUIRE(Roles)
REQUIRE(TeamBallModel)
PROVIDE(RoleDecisionModel)
END_DECLARE_MODULE(RoleDecisionPositionPotentialField);
class RoleDecisionPositionPotentialField : public RoleDecisionPositionPotentialFieldBase
{
typedef double (RoleDecisionPositionPotentialField::*ForceFn)(double, double, double) const;
public:
RoleDecisionPositionPotentialField();
virtual ~RoleDecisionPositionPotentialField();
virtual void execute();
private:
class Parameters: public ParameterList
{
public:
Parameters() : ParameterList("RoleDecisionPositionPotentialField")<--- Member variable 'Parameters::forceSideline' is not initialized in the constructor.<--- Member variable 'Parameters::forceTeammate' is not initialized in the constructor.<--- Member variable 'Parameters::forceBall' is not initialized in the constructor.<--- Member variable 'Parameters::forcePosition' is not initialized in the constructor.
{
PARAMETER_REGISTER(enableSideline) = true;
PARAMETER_REGISTER(enableTeammates) = true;
PARAMETER_REGISTER(enableBall) = true;
PARAMETER_REGISTER(enableDefaultPosition) = true;
PARAMETER_REGISTER(force_sideline) = 4000;
PARAMETER_REGISTER(force_sideline_scale) = 1;
PARAMETER_REGISTER(force_teammates) = 4000;
PARAMETER_REGISTER(force_teammates_scale) = 500;
PARAMETER_REGISTER(force_ball) = 4000;
PARAMETER_REGISTER(force_ball_scale) = 2;
PARAMETER_REGISTER(force_default_position) = 0.8;
PARAMETER_REGISTER(force_default_position_scale) = -1;
PARAMETER_REGISTER(update_speed) = 2.0;
PARAMETER_REGISTER(restrictToGrid) = false;
// const, linear, square exp, exprec, expsquare, cos
PARAMETER_REGISTER(force_method_sideline, &Parameters::setSidelineMethod) = "exprec";
PARAMETER_REGISTER(force_method_teammate, &Parameters::setTeammateMethod) = "expnegrec";
PARAMETER_REGISTER(force_method_ball, &Parameters::setBallMethod) = "linear";
PARAMETER_REGISTER(force_method_position, &Parameters::setPositionMethod) = "const";
// load from the file after registering all parameters
syncWithConfig();
}
bool enableSideline;
double force_sideline;
double force_sideline_scale;
bool enableTeammates;
double force_teammates;
double force_teammates_scale;
bool enableBall;
double force_ball;
double force_ball_scale;
bool enableDefaultPosition;
double force_default_position;
double force_default_position_scale;
double update_speed;
bool restrictToGrid;
std::string force_method_sideline;
std::string force_method_teammate;
std::string force_method_ball;
std::string force_method_position;
ForceFn forceSideline;
ForceFn forceTeammate;
ForceFn forceBall;
ForceFn forcePosition;
void setSidelineMethod(std::string method) { setMethod(forceSideline, method); }
void setTeammateMethod(std::string method) { setMethod(forceTeammate, method); }
void setBallMethod(std::string method) { setMethod(forceBall, method); }
void setPositionMethod(std::string method) { setMethod(forcePosition, method); }
void setMethod(ForceFn& methodVar, std::string method)
{
if(method == "linear") { methodVar = &RoleDecisionPositionPotentialField::forceLinear; }
else if (method == "square") { methodVar = &RoleDecisionPositionPotentialField::forceSquare; }
else if (method == "ratio") { methodVar = &RoleDecisionPositionPotentialField::forceRatio; }
else if (method == "exp") { methodVar = &RoleDecisionPositionPotentialField::forceExp; }
else if (method == "exprec") { methodVar = &RoleDecisionPositionPotentialField::forceExpRec; }
else if (method == "exprec2") { methodVar = &RoleDecisionPositionPotentialField::forceExpRecSquare; }
else if (method == "expnegrec") { methodVar = &RoleDecisionPositionPotentialField::forceExpNegRec; }
else if (method == "expnegrec2"){ methodVar = &RoleDecisionPositionPotentialField::forceExpNegRecSquare; }
else if (method == "cos") { methodVar = &RoleDecisionPositionPotentialField::forceCos; }
else { methodVar = &RoleDecisionPositionPotentialField::forceConst; }
}
} params;
std::map<Roles::Static, Geometry::Rect2d> positionGrid;
/**
* @brief Resets the positions to the default (starting) positions.
*/
void resetPositions();
/**
* @brief Initializes the positions grid.
* The field is divded into a grid, where each role has a certain grid cell where it can move.
* The role is not allowed to leave the grid cell, if restrictToGrid == true.
*/
void initPositionsGrid();
/**
* @brief Calculates the new home position of the role r.
* Different forces have an effect on the new position (see calculateRepellerAttractorPosition)
*
* @param r the role, which home position should be calculated
* @param pos sets the new position in the 'pos' map
*/
void calculateRepellerAttractorPosition(Roles::Static r, std::map<Roles::Static, Vector2d> &pos);
/**
* @brief Calculates the sum of the applied forces and returns a vector indicating by how much the point should be shifted.
* The following forces are applied: sidelines, ball, teammates, default position.
*
* @param p the point, where the forces should be calculated
* @param r the conisdered role
* @return a vector indicating by how much the point should be shifted
*/
Vector2d calculateRepellerAttractorForce(const Vector2d& p, Roles::Static r) const;
/**
* @brief Calculates the repulsion force in point to the repeller point with the given force.
* The force calculation can be tuned via the respecting 'force_method' parameter.
*
* @param point the point, where the force should be calculated on
* @param repeller the repeller point, which has the ("negative") force
* @param force the force, the repeller has
* @return the force, which should effect the point
*/
Vector2d calculate(ForceFn method, const Vector2d& point, Vector2d obstacle, double force, double scale) const;
/**
* @brief Some debug drawings for this module.
*/
void debugDrawings() const;
void debugDrawings(std::string debugRequestName, Roles::Static r) const;
/** Returns the force as constant $\operatorname{force} = s \cdot f$. */
double forceConst(double f, double /*d*/, double s) const { return s*f; }
/** Returns the force as a linear function: $\operatorname{force} = \begin{cases} 0 &d>f\\f-d &\end{cases}$ */
double forceLinear(double f, double d, double s) const { return d>f||d==0.0 ? 0 : -s; }
/** Returns the force as a square function: $\operatorname{force} = \begin{cases} 0 &d^2>f\\f-d^2 &\end{cases}$ */
double forceSquare(double f, double d, double s) const { return (d*d)>f ? 0 : -2*s*d; }
/** Returns the force as a square function: $\operatorname{force} = \frac{s \cdot f}{d}$ */
double forceRatio(double f, double d, double s) const { return d == 0.0 ? 0 : -s*f / (d*d); }
/** Returns the force as a square function: $\operatorname{force} = f \cdot e^{s \cdot d}$ */
double forceExp(double f, double d, double s) const { return - s * f * exp(-s * d); }
/** Returns the force as a square function: $\operatorname{force} = s \cdot e^{\frac{f}{d}}$ */
double forceExpRec(double f, double d, double s) const { return s*exp(f/d) * (-f/(d*d)); }
/** Returns the force as a square function: $\operatorname{force} = s \cdot e^{\frac{f}{d^2}}$ */
double forceExpRecSquare(double f, double d, double s) const { return s*exp(f/(d*d)) * ((-2*f)/(d*d*d)); }
/** Returns the force as a square function: $\operatorname{force} = f \cdot e^{-\frac{d}{s}}$ */
double forceExpNegRec(double f, double d, double s) const { return f*exp(-d/s) * (-1/s); }
/** Returns the force as a square function: $\operatorname{force} = f \cdot e^{-\frac{d^2}{s}}$ */
double forceExpNegRecSquare(double f, double d, double s) const { return f*exp(-(d*d)/s)*((-2*d)/s); }
/** Returns the force as the cos function: $\operatorname{force} = f \cdot \cos({s \cdot d})$ */
double forceCos(double f, double d, double s) const { return (s * d)>=(Math::pi_2)?0.0:-s*f*sin(s*d); }
};
#endif // ROLEDECISIONPOSITIONPOTENTIALFIELD_H
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