Robocup Simulation League: Simulated Soccer Players

Harvey Mudd College CS 154: Robotics - Lab Project 3
Michael A. Dickerson, Pomona College

Madclient

The parent program, which understands command line parameters and can launch one or more Player threads. (Not yet complete.)

ServerConnection

Processes packets and constructs commands to be sent to the server. Does some final processing and sanity checking of supplied data, as well as limiting the data rate in order to enforce the Robocup communication speed limits. Using this class should guarantee that the client cannot violate Robocup specifications.

Player

A class which represents one simulated player, designed to run as its own thread. Each Player is completely self- sufficient, which is not optimally efficient but is a requirement of the Robocup competition.

World

One player's world model. Maintains two maps, one centered on the player which contains all dynamic game objects, and another which represents field landmarks in absolute coordinates for reference.

GameObject

The model of any individual object in the game. Uses a probabilistic, vector based approach to account for unreliable measurements while keeping memory use reasonable. Much of the geometry of the world model is contained in here (as well as in World).

Eye

A class for parsing visual sensory information received from the server, and integrating that information with the existing world model. (Not yet implemented.)

Ear

A class for parsing auditory sensory information received by the server and integrating that information, if appropriate, to the world model. (Not yet implemented.)

Point

A class which represents a point or vector in two dimensional Euclidean geometry. Uses rectangular coordinates internally, but can accept and supply polar coordinates (without changing the vector) if asked. Also understands the usual vector operations such as addition, scalar multiplication, dot product, etc. Using a smart Point class greatly simplifies the object and world models.