00001 /***************************************************************************
00002  *  field.cpp - Encapsulates a soccer field
00003  *
00004  *  Created:  Tue Sep 23 12:00:00 2008
00005  *  Copyright 2008 Christof Rath <christof.rath@gmail.com>
00006  *
00007  ****************************************************************************/
00008
00009 /*  This program is free software; you can redistribute it and/or modify
00010  *  it under the terms of the GNU General Public License as published by
00011  *  the Free Software Foundation; either version 2 of the License, or
00012  *  (at your option) any later version.
00013  *
00014  *  This program is distributed in the hope that it will be useful,
00015  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00016  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00017  *  GNU Library General Public License for more details.
00018  *
00019  *  Read the full text in the LICENSE.GPL file in the doc directory.
00020  */
00021
00022 #include "field.h"
00023
00024 #include <core/exceptions/software.h>
00025
00026 #include <cmath>
00027 #include <cstring>
00028 #include <stdio.h>
00029
00030 using namespace fawkes;
00031 
00032 /** @class Field field.h </nao_fawkes/src/firevision/apps/nao_loc/field.cpp/field.h>
00033  * This class is used to describe a soccer field.
00034  *
00035  * @fn const FieldLines& Field::get_lines() const
00036  * Field lines getter
00037  * @return the field lines object
00038  *
00039  * @author Christof Rath
00040  */
00041 
00042 /** Dummy constructor */
00043 Field::Field(FieldLines *lines, bool manage_lines_memory)
00044 {
00045   __lines = lines;
00046   __manage_lines_memory = manage_lines_memory;
00047 }
00048 
00049 /**
00050  * Destructor.
00051  */
00052 Field::~Field()
00053 {
00054   if (__manage_lines_memory) delete __lines;
00055 }
00056
00057 
00058 /**
00059  * Field length getter
00060  * @return the length of the soccer field
00061  */
00062 float
00063 Field::get_field_length()const
00064 {
00065   return __lines->get_field_length();
00066 }
00067
00068 
00069 /**
00070  * Field width getter
00071  * @return the width of the soccer field
00072  */
00073 float
00074 Field::get_field_width() const
00075 {
00076   return __lines->get_field_width();
00077 }
00078
00079 
00080 /**
00081  * Prints the information to the console
00082  * @param in_mm if true all units that have been [m] are now [mm]
00083  */
00084 void
00085 Field::print(bool in_mm) const
00086 {
00087   printf("Field lines (start-x -y end-x -y):\n==================================\n");
00088   for (FieldLines::const_iterator it = __lines->begin(); it != __lines->end(); ++it) {
00089     if (in_mm) printf("%d %d %d %d\n", static_cast<int>(it->start.x * 1000), static_cast<int>(it->start.y * 1000), static_cast<int>(it->end.x * 1000), static_cast<int>(it->end.y * 1000));
00090     else       printf("%0.03f %0.03f %0.03f %0.03f\n", it->start.x, it->start.y, it->end.x, it->end.y);
00091   }
00092   printf("\n");
00093
00094   printf("Field circles (center-x/y radius start/end angle):\n=============================================\n");
00095   for (field_circles_t::const_iterator it = __lines->get_circles().begin(); it != __lines->get_circles().end(); ++it) {
00096     if (in_mm) printf("%d %d %d %0.03f %0.03f\n", static_cast<int>(it->center.x * 1000), static_cast<int>(it->center.y * 1000), static_cast<int>(it->radius * 1000), it->start_phi, it->end_phi);
00097     else       printf("%0.03f %0.03f %0.03f %0.03f %0.03f\n", it->center.x, it->center.y, it->radius, it->start_phi, it->end_phi);
00098   }
00099   printf("\n\n");
00100 }
00101 
00102 /**
00103  * Returns the corresponding Field object
00104  *
00105  * @param field_name the name of the field
00106  * @param field_length the area of interest around the field
00107  * @param field_width the area of interest around the field
00108  * @return the Field object pointer
00109  */
00110 Field*
00111 Field::field_for_name(std::string field_name, float field_length, float field_width)
00112 {
00113   if (field_name == "Field6x4") return new Field(new FieldLines6x4(field_length, field_width));
00114   else if (field_name == "FieldCityTower") return new Field(new FieldLinesCityTower(field_length, field_width));
00115   else if (field_name == "FieldCityTowerSeminar") return new Field(new FieldLinesCityTowerSeminar(field_length, field_width));
00116   else throw fawkes::IllegalArgumentException("Unknown field name! Please set field_name to a valid value (see field.h)");
00117 }
00118