KickEvaluator Class Reference

Finds the best position to kick to and the chance of success. More...

Public Member Functions
	KickEvaluator (SystemState *systemState)
	Constructor. More...
KickResults	eval_pt_to_pt (Geometry2d::Point origin, Geometry2d::Point target, float targetWidth)
	Evaluates kick to target point. More...
KickResults	eval_pt_to_robot (Geometry2d::Point origin, Geometry2d::Point target)
	Evaluates kick to target robot. More...
KickResults	eval_pt_to_opp_goal (Geometry2d::Point origin)
	Evaluates kick to opponent goal. More...
KickResults	eval_pt_to_our_goal (Geometry2d::Point origin)
	Evaluates kick to our goal. More...
KickResults	eval_pt_to_seg (Geometry2d::Point origin, Geometry2d::Segment target)
	Evaluates kick to target segment. More...

Static Public Member Functions
static std::tuple< float, float >	eval_calculation (float x, const float kmean, const float kstdev, const std::vector< float > &robotMeans, const std::vector< float > &robotStDevs, const std::vector< float > &robotVertScales, const float bLeft, const float bRight)
	Evaluates closed form solution of the KickEvaluation problem. More...
static void	createConfiguration (Configuration *cfg)
	Initializes configurable fields. More...

Public Attributes
std::vector< Robot * >	excluded_robots
	Robots that should not be consider obstacles.
std::vector< Geometry2d::Point >	hypothetical_robot_locations
	Locations to pretend are robot obstacles during evaluation.

Static Public Attributes
static ConfigDouble *	kick_std_dev

Detailed Description

Finds the best position to kick to and the chance of success.

Collaboration diagram for KickEvaluator:

Constructor & Destructor Documentation

KickEvaluator()

KickEvaluator::KickEvaluator

(

SystemState *

systemState

)

Constructor.

Parameters

systemState,pointer

to the global system state object

Member Function Documentation

createConfiguration()

void KickEvaluator::createConfiguration ( Configuration *  cfg )

static

Initializes configurable fields.

Note

See configuration documentation for details

eval_calculation()

tuple< float, float > KickEvaluator::eval_calculation ( float  x, const float  kmean, const float  kstdev, const std::vector< float > &  robotMeans, const std::vector< float > &  robotStDevs, const std::vector< float > &  robotVertScales, const float  bLeft, const float  bRight  )

static

Evaluates closed form solution of the KickEvaluation problem.

Parameters

x,Location	to run at
kmean,Kick	mean
kstdev,Kick	standard deviation
robotMeans,vector	of robot angle locations
robotStDevs,vector	of robot movement standard deviations
robotVertScales,vector	of how much to scale the height
bLeft,left	boundary angle
bRight,right	boundary angle

Returns

F(X), F'(X)

eval_pt_to_opp_goal()

KickResults KickEvaluator::eval_pt_to_opp_goal

(

Geometry2d::Point

origin

)

Evaluates kick to opponent goal.

Parameters

origin,Starting

point of the kick

Returns

Results of calculations

eval_pt_to_our_goal()

KickResults KickEvaluator::eval_pt_to_our_goal

(

Geometry2d::Point

origin

)

Evaluates kick to our goal.

Parameters

origin,Starting

point of the kick

Returns

Results of calculations

eval_pt_to_pt()

KickResults KickEvaluator::eval_pt_to_pt	(	Geometry2d::Point	origin,
		Geometry2d::Point	target,
		float	targetWidth
	)

Evaluates kick to target point.

Parameters

origin,Starting	point of the kick
target,End	point of the kick
targetWidth,Width	of target in radians

Returns

Results of calculations

eval_pt_to_robot()

KickResults KickEvaluator::eval_pt_to_robot	(	Geometry2d::Point	origin,
		Geometry2d::Point	target
	)

Evaluates kick to target robot.

Parameters

origin,Starting	point of the kick
target,Target	robot location

Returns

Results of calculations

eval_pt_to_seg()

KickResults KickEvaluator::eval_pt_to_seg	(	Geometry2d::Point	origin,
		Geometry2d::Segment	target
	)

Evaluates kick to target segment.

Parameters

origin,Starting	point of the kick
target,End	segment of the kick

Returns

Results of calculations

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

• soccer/KickEvaluator.hpp
• soccer/KickEvaluator.cpp