rttrack.cpp File Reference

Common functions for robots. More...

#include <portability.h>
#include <stdlib.h>
#include <math.h>
#include <tgf.h>
#include <car.h>
#include <track.h>
#include <robottools.h>

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Functions
tdble	RtTrackGetWidth (tTrackSeg *seg, tdble toStart)
	Get the track width at the specified point.
void	RtTrackLocal2Global (tTrkLocPos *p, tdble *X, tdble *Y, int flag)
	Calculate global coordinates from a local position relative to the given track segment (segment, toRight, toStart)The toStart position refers to the current segment, the function will not search for next segment if toStart is greater than the segment length.
template<typename T>
static void	rtTrackGlobal2Local (tTrackSeg *segment, T X, T Y, tTrkLocPos *p, int type)
void	RtTrackGlobal2LocalD (tTrackSeg *segment, double X, double Y, tTrkLocPos *p, int type)
	Convert global coordinates to a local track position using double intermediates.
void	RtTrackGlobal2Local (tTrackSeg *segment, tdble X, tdble Y, tTrkLocPos *p, int type)
	Convert global coordinates to a local track position.
static tTrackSeg *	resolveTrackSeg (const tTrkLocPos *p, tdble *toRight)
	Resolve the effective segment and rebase the lateral coordinate to it.
tdble	RtTrackHeightL (tTrkLocPos *p)
	Returns the absolute height in meters of the road at the Local position p.
tTrackSeg *	RtTrackGetSideNeighbourSeg (tTrackSeg *main, tTrackSeg *current, int tr_side)
	Get the neighbour segment of the given current segment.
tTrackSeg *	RtTrackGetSeg (tTrkLocPos *p)
	Get the effective segment of the given position starting from a segment of type TR_MAIN, searching to the sides.
tdble	RtTrackHeightG (tTrackSeg *seg, tdble X, tdble Y)
	Returns the absolute height in meters of the road at the Global position (segment, X, Y)
void	RtTrackSideNormalG (tTrackSeg *seg, tdble X, tdble Y, int side, t3Dd *norm)
	Compute the horizontal inward border normal using the supplied segment.
tdble	RtTrackSideTgAngleL (tTrkLocPos *p)
	Used to get the tangent angle for a track position The angle is given in radian.
void	RtTrackSurfaceNormalL (tTrkLocPos *p, t3Dd *norm)
	Used to get the normal vector of the road (pointing upward).
tdble	RtGetDistFromStart (tCarElt *car)
	Get distance along the track from the start/finish line.
tdble	RtGetDistFromStart2 (tTrkLocPos *p)
	Get distance along the track from the start/finish line.
int	RtDistToPit (struct CarElt *car, tTrack *track, tdble *dL, tdble *dW)
	Get the distance to the pit stop.
static void	RtReadCarPitSetupEntry (tCarPitSetupValue *v, const char *path, const char *key, void *hdle, bool minmaxonly)
void	RtInitCarPitSetup (void *hdle, tCarPitSetup *s, bool minmaxonly)
	Initialize tCarPitSetup from data in parameter set given in handle hdle.
void	RtGetCarPitSetupFilename (rtCarPitSetupType type, int robidx, const char *carname, const char *trackname, char *filename, const int len)
	Compose filename from given strings.
static void	RtParmSetNum (void *hdlesetup, const char *path, const char *key, const char *unit, tCarPitSetupValue *v)
	Robottool internal: Set parameter if min != max, save as well min and max values.
void	RtSaveCarPitSetupFile (void *hdlecar, tCarPitSetup *s, const char *filepath, const char *carname)
	Save adjustable setup entries to a file, merging them with hdlecar's restrictions.
void	RtSaveCarPitSetup (void *hdlecar, tCarPitSetup *s, rtCarPitSetupType type, const char *modulename, int robidx, const char *trackname, const char *carname)
	Save a custom setup in the robot's local setups directory.
bool	RtCarPitSetupExists (rtCarPitSetupType type, const char *modulename, int robidx, const char *trackname, const char *carname)
	Checks if a specific car setup is available.
bool	RtLoadCarPitSetupFilename (void *hdlecar, const char *filepath, tCarPitSetup *s, bool minmaxonly)
	Load a custom setup and merge its entries with hdlecar's restrictions.
bool	RtLoadCarPitSetup (void *hdlecar, tCarPitSetup *s, rtCarPitSetupType type, const char *modulename, int robidx, const char *trackname, const char *carname, bool minmaxonly)
	Load a custom setup from the robot's local setups directory.
void *	RtLoadOriginalCarSettings (const char *carname)
	Gets a handle to a parameter file containing the original TORCS car setup, that means the car setup merged with the cars category setup.
bool	RtInitCarPitSetupFromDefault (tCarPitSetup *s, const char *carname)
	Initialize the given tCarPitSetup with the original TORCS setup, that means the car setup merged with the cars category setup.
void *	RtParmReadSetup (rtCarPitSetupType type, const char *modulename, int robidx, const char *trackname, const char *carname)
	Load a custom car setup file for a given robot, car, track and session (race, practice, qualifying, ...) type.

Variables
static const char *	CarPitSetupFilenames [6] = { "practice", "qualifying", "race", "backup1", "backup2", "backup3" }
	Array with names for rtCarPitSetupType enumeration.

Detailed Description

Common functions for robots.

Author

Bernhard Wymann, Eric Espie

Definition in file rttrack.cpp.

Function Documentation

resolveTrackSeg()

tTrackSeg * resolveTrackSeg ( const tTrkLocPos * p, tdble * toRight )

static

Resolve the effective segment and rebase the lateral coordinate to it.

The search starts at the supplied segment, continues only toward its outer side segments, and does not modify the supplied position.

Parameters

[in]	p	Local position relative to the supplied segment
[out]	toRight	Lateral position relative to the resolved segment's right side

Returns

Effective segment for the given position

Definition at line 312 of file rttrack.cpp.

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RtParmSetNum()

void RtParmSetNum ( void * hdlesetup, const char * path, const char * key, const char * unit, tCarPitSetupValue * v )

static

Robottool internal: Set parameter if min != max, save as well min and max values.

Parameters

[in,out]	hdlesetup	Handle to parameter set to write into
[in]	path	path of parameter
[in]	key	key name
[in]	unit	unit to convert the result to (NULL if SI wanted)
[in]	v	tCarPitSetupValue to set

Definition at line 868 of file rttrack.cpp.

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RtReadCarPitSetupEntry()

void RtReadCarPitSetupEntry ( tCarPitSetupValue * v, const char * path, const char * key, void * hdle, bool minmaxonly )

static

Definition at line 729 of file rttrack.cpp.

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rtTrackGlobal2Local()

template<typename T>

void rtTrackGlobal2Local ( tTrackSeg * segment, T X, T Y, tTrkLocPos * p, int type )

static

Definition at line 142 of file rttrack.cpp.

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Variable Documentation

CarPitSetupFilenames

const char* CarPitSetupFilenames[6] = { "practice", "qualifying", "race", "backup1", "backup2", "backup3" }

static

Array with names for rtCarPitSetupType enumeration.

Definition at line 835 of file rttrack.cpp.