Librcsc阅读笔记：PlayerAgent/PlayerConfig

PlayerAgent

basic player agent class 最基本的球员智能体类

继承了SoccerAgent类

struct Impl

implement即实行，就是保证agent部分功能运转的结构体。

public variables

PlayerAgent & agent_

reference to the agent instance 智能体句柄的指向

GameTime变量

last_decision_time_：last action decision game time

current_time_： current game time

timeStamp变量

body_time_stamp_： time when sense_body is received

see_time_stamp_： time when see is received

bool变量

think_received_：flag to check if (think) message was received or not.

server_cycle_stopped_： flag to check if server cycle is stopped or not.

boost::shared_ptr变量

int变量

clang_min_：supported minimal clang version

clang_max_：supported maximal clang version

其他变量和函数

其他变量和函数自行在网页查看，主要是一个class一个对应变量以及对应函数。

public functions

动作型函数

比较重要的函数，涉及球员动作。下一步应该关注具体实现、与chain_action关系和动作提升。

• bool doKick (const double &power, const AngleDeg &rel_dir) 踢球
• bool doDash (const double &power, const AngleDeg &rel_dir=0.0) 冲刺
• bool doCatch () 带球
• bool doMove (const double &x, const double &y) 移动
• bool doTackle (const double &power_or_dir, const bool foul=false) 铲球
• bool doTurnNeck (const AngleDeg &moment) 转头
• bool doChangeView (const ViewWidth &width) 变更视角
• bool doPointto (const double &x, const double &y)
• bool doPointtoOff ()
• bool doAttentionto (SideID side, const int unum)
• bool doAttentiontoOff ()
• void setArmAction (ArmAction *act)
• void setNeckAction (NeckAction *act)
• void setViewAction (ViewAction *act)
• void addSayMessage (const SayMessage *message)
• bool removeSayMessage (const char header)
• void setIntention (SoccerIntention *intention)
• bool doIntention ()
• void addPreActionCallback (const PeriodicCallback::Ptr &ptr)
• void addPostActionCallback (const PeriodicCallback::Ptr &ptr)

返回特定类的函数

• const PlayerConfig & config () const
• DebugClient & debugClient ()
• const WorldModel & world () const
• const WorldModel & fullstateWorld () const
• const ActionEffector & effector () const
• const BodySensor & bodySensor () const
• const VisualSensor & visualSensor () const
• const AudioSensor & audioSensor () const
• const FullstateSensor & fullstateSensor () const
• const SeeState & seeState () const
• const TimeStamp & bodyTimeStamp () const：get time stamp when sense_body message is received
• const TimeStamp & seeTimeStamp () const：get time stamp of see message when see message is received

如上所示，有一批agent的传感器。

PlayerConfig