void
EKFLocalization::WTDreset2Playing(RoboCupGameControlData *gc, float MT, float MO)
{
mgrid->resetClear();
removeFilters();
switch(GameController::getInstance()->getPlayerNumber())
{
case 1:
addPosition(-2500.0, 0.0, 0.0);
break;
case 2:
if(GameController::getInstance()->isMyKickOff())
addPosition(-1500.0, 1500.0, 0.0);
else
addPosition(-2000.0, 1500.0, 0.0);
break;
case 3:
if(GameController::getInstance()->isMyKickOff())
addPosition(-1000.0, 0.0, 0.0);
else
addPosition(-2000.0, 250.0, 0.0);
break;
case 4:
if(GameController::getInstance()->isMyKickOff())
addPosition(-1500.0, -1500.0, 0.0);
else
addPosition(-2000.0, -1500.0, 0.0);
break;
};
mgrid->normalize();
}
void
EKFLocalization::WTDreset2Initial(RoboCupGameControlData *gc, float MT, float MO)
{
mgrid->resetClear();
removeFilters();
switch(GameController::getInstance()->getPlayerNumber()){
case 1:
//addPosition(-2000.0, -1900.0, pi_2);
addPosition(-2000.0, 1900.0, -pi_2);
break;
case 2:
//addPosition(-1500.0, -1900.0, pi_2);
addPosition(-1500.0, 1900.0, -pi_2);
break;
case 3:
addPosition(-1000.0, -1900.0, pi_2);
//addPosition(-1000.0, 1900.0, -pi_2);
break;
case 4:
addPosition(-500.0, -1900.0, pi_2);
//addPosition(-500.0, 1900.0, -pi_2);
break;
};
mgrid->normalize();
}
void
EKFLocalization::WTDresetFromPenalised(RoboCupGameControlData *gc, float MT, float MO)
{
mgrid->resetClear();
removeFilters();
addPosition(-1500.0, -2000.0, pi_2);
addPosition(-1500.0, 2000.0, -pi_2);
mgrid->normalize();
}
QueryProperties::QueryProperties(const string &name, const string &freeQuery,
QueryType type) :
m_name(name),
m_type(type),
m_order(RELEVANCE),
m_freeQuery(freeQuery),
m_resultsCount(10),
m_indexResults(false),
m_modified(false)
{
removeFilters();
}
void
EKFLocalization::WTDreset2Penalty(RoboCupGameControlData *gc, float MT, float MO)
{
mgrid->resetClear();
removeFilters();
switch(GameController::getInstance()->getPlayerNumber())
{
case 1:
addPosition(-3000.0, 0.0, 0.0);
break;
case 2:
case 3:
case 4:
addPosition(700.0, 0.0, 0.0);
break;
};
mgrid->normalize();
}
/// Sets the query string.
void QueryProperties::setFreeQuery(const string &freeQuery)
{
m_freeQuery = freeQuery;
removeFilters();
}
