roborts_decision::PredictionSystem Class Reference

#include <prediction_system.h>

Public Member Functions
	PredictionSystem (std::shared_ptr< MyRobot > p_my_robot_1, std::shared_ptr< MyRobot > p_my_robot_2, EnemyRobot &enemy_robot_1, EnemyRobot &enemy_robot_2)
	PredictionSystem ()=delete
	~PredictionSystem ()=default
void	UpdatePredictedRemainingProjectiles ()
void	UpdatePredictedHp ()
void	UpdatePredictedCurrentHeat ()
bool	GetEnemyBulletBuffStatus ()
bool	GetEnemyBloodBuffStatus ()
std::vector< roborts_decision::EnemyRobot >	PredictWhoAttackHome (const std::shared_ptr< roborts_decision::MyRobot > &p_my_robot)

Private Member Functions
int	PredictBulletNumbersWithDistance (const roborts_common::Point2D &pose_1, const roborts_common::Point2D &pose_2)
int	PredictSpeedWithDistance (const roborts_common::Point2D &pose_1, const roborts_common::Point2D &pose_2)
int	PredictDamageToEnemyWithBullets (const int bullets)
void	NormalizedEnemyAttacker (std::vector< roborts_decision::EnemyRobot > &enemy_to_attack_home_1, std::vector< roborts_decision::EnemyRobot > &enemy_to_attack_home_2)

Private Attributes
std::shared_ptr< MyRobot >	p_my_robot_1_
std::shared_ptr< MyRobot >	p_my_robot_2_
std::array< std::shared_ptr< MyRobot >, 2 >	all_home_
std::shared_ptr< Field >	field_
EnemyRobot &	enemy_robot_1_
EnemyRobot &	enemy_robot_2_
int	bullet_shoot_enemy_1_to_home_1_
int	bullet_shoot_enemy_1_to_home_2_
int	bullet_shoot_enemy_2_to_home_1_
int	bullet_shoot_enemy_2_to_home_2_
int	speed_shoot_enemy_1_to_home_1_
int	speed_shoot_enemy_1_to_home_2_
int	speed_shoot_enemy_2_to_home_1_
int	speed_shoot_enemy_2_to_home_2_

Constructor & Destructor Documentation

PredictionSystem() [1/2]

PredictionSystem::PredictionSystem	(	std::shared_ptr< MyRobot >	p_my_robot_1,
		std::shared_ptr< MyRobot >	p_my_robot_2,
		EnemyRobot &	enemy_robot_1,
		EnemyRobot &	enemy_robot_2
	)

PredictionSystem() [2/2]

roborts_decision::PredictionSystem::PredictionSystem ( )

delete

~PredictionSystem()

roborts_decision::PredictionSystem::~PredictionSystem ( )

default

Member Function Documentation

GetEnemyBloodBuffStatus()

bool PredictionSystem::GetEnemyBloodBuffStatus

(

)

GetEnemyBulletBuffStatus()

bool PredictionSystem::GetEnemyBulletBuffStatus

(

)

NormalizedEnemyAttacker()

void PredictionSystem::NormalizedEnemyAttacker ( std::vector< roborts_decision::EnemyRobot > &  enemy_to_attack_home_1, std::vector< roborts_decision::EnemyRobot > &  enemy_to_attack_home_2  )

private

规范化进攻我方机器人的数据

Parameters

enemy_to_attack_home_1	进攻我方1号球员的机器人
enemy_to_attack_home_2	进攻我方2号球员的机器人

PredictBulletNumbersWithDistance()

int PredictionSystem::PredictBulletNumbersWithDistance ( const roborts_common::Point2D &  pose_1, const roborts_common::Point2D &  pose_2  )

private

PredictDamageToEnemyWithBullets()

int PredictionSystem::PredictDamageToEnemyWithBullets ( const int  bullets )

private

根据我方射击的子弹数预测敌方掉血

Parameters

bullets

Returns

PredictSpeedWithDistance()

int PredictionSystem::PredictSpeedWithDistance ( const roborts_common::Point2D &  pose_1, const roborts_common::Point2D &  pose_2  )

private

PredictWhoAttackHome()

std::vector< roborts_decision::EnemyRobot > PredictionSystem::PredictWhoAttackHome

(

const std::shared_ptr< roborts_decision::MyRobot > &

p_my_robot

)

如果同时有两块夹板被攻击,则敌方两机器人均在攻击 如果只有一块,考虑范围 包括装甲板在内的 2PI/3 范围内,如果敌方机器人在内,并且与我方几何中心没有障碍物 ,则应预测其正在攻击 具体方法:

1. 如果与2PI/3边界的两条直线夹角均小于2PI/3 则可判断位于范围内
2. 位于范围内,还需要求与我方机器人之间没有障碍物

UpdatePredictedCurrentHeat()

void PredictionSystem::UpdatePredictedCurrentHeat

(

)

UpdatePredictedHp()

void PredictionSystem::UpdatePredictedHp

(

)

UpdatePredictedRemainingProjectiles()

void PredictionSystem::UpdatePredictedRemainingProjectiles

(

)

Member Data Documentation

all_home_

std::array<std::shared_ptr<MyRobot>, 2> roborts_decision::PredictionSystem::all_home_

private

bullet_shoot_enemy_1_to_home_1_

int roborts_decision::PredictionSystem::bullet_shoot_enemy_1_to_home_1_

private

bullet_shoot_enemy_1_to_home_2_

int roborts_decision::PredictionSystem::bullet_shoot_enemy_1_to_home_2_

private

bullet_shoot_enemy_2_to_home_1_

int roborts_decision::PredictionSystem::bullet_shoot_enemy_2_to_home_1_

private

bullet_shoot_enemy_2_to_home_2_

int roborts_decision::PredictionSystem::bullet_shoot_enemy_2_to_home_2_

private

enemy_robot_1_

EnemyRobot& roborts_decision::PredictionSystem::enemy_robot_1_

private

enemy_robot_2_

EnemyRobot& roborts_decision::PredictionSystem::enemy_robot_2_

private

field_

std::shared_ptr<Field> roborts_decision::PredictionSystem::field_

private

p_my_robot_1_

std::shared_ptr<MyRobot> roborts_decision::PredictionSystem::p_my_robot_1_

private

p_my_robot_2_

std::shared_ptr<MyRobot> roborts_decision::PredictionSystem::p_my_robot_2_

private

speed_shoot_enemy_1_to_home_1_

int roborts_decision::PredictionSystem::speed_shoot_enemy_1_to_home_1_

private

speed_shoot_enemy_1_to_home_2_

int roborts_decision::PredictionSystem::speed_shoot_enemy_1_to_home_2_

private

speed_shoot_enemy_2_to_home_1_

int roborts_decision::PredictionSystem::speed_shoot_enemy_2_to_home_1_

private

speed_shoot_enemy_2_to_home_2_

int roborts_decision::PredictionSystem::speed_shoot_enemy_2_to_home_2_

private

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

• src/ICRA-Firefly-RoboRTS/roborts_decision/blackboard/prediction_system.h
• src/ICRA-Firefly-RoboRTS/roborts_decision/blackboard/prediction_system.cpp