C++11/14 support (helios-base#18)

* fix cmake configurations.

* replace CheckSymbolExists with CheckCXXSymbolExists

* fix a cmake problem. add a missing header file.

* デフォルトのインストール先を~/localへ変更

* formationファイルフォーマットv2のパーサを復帰 (helios-base#13)

* support a large value of synch_see_offset (helios-base#15)

* SeeState::canChangeViewToをcanSendChangeViewへリネーム．スタイルを一部修正．

* コード整理

* synch_see時の最大待ち時間を79msから30msへ変更

* TimeStampに<,>演算子を追加

* synch_see_offsetが大きい場合に部分的に対応。seeのタイミングを正確に判断するためにTimeStampを導入

Co-authored-by: Hidehisa Akiyama <[email protected]>

* replace some implementations with C++11/14  (helios-base#16)

* replace deprecated function adapters with lamda expressions

* 一部を範囲for文へ置き換え

* 一部を範囲for文、nullptrへ置換。

* 行動クラス群を範囲for文へ置換

* ann内の実装を範囲for文で置換

* clang内の実装を範囲for文で置換

* coach内の実装を範囲for文へ置換

* 範囲for文でiteratorを整理

* BallObjectの代入演算子を追加し、defaultとして定義

* boostのスマートポインタ、cstdintを標準へ置換

* boost::randomをstd::randomへ置換

* コンストラクタ・デストラクタのdefault,deleteを設定

* 自己位置推定の冗長コードを整理し、サンプリング動作を確認

* 一部のpush_backをemplace_backへ置き換え

* ヌルポインタとしての0キャストをnullptrへ置き換え

* 一部のstd::mapをstd::unordered_mapへ置き換え

* 一部のlexical_castを標準の変換関数へ置き換え

* 時間計測関係をstd::chronoで再実装

* TimeStamp::msecFromをelapsedSinceへリネーム

* 未使用のフォーメーションクラスをobsoleteへ移動

* 未使用コードを削除

* 一部の仮想メンバ関数にoverrideキーワードを追加

Co-authored-by: Hidehisa Akiyama <[email protected]>

rcsc/action/basic_actions.cpp

@@ -247,18 +247,16 @@ Neck_TurnToPoint::execute( PlayerAgent * agent )
     const AngleDeg next_body = agent->effector().queuedNextSelfBody();
     const double next_view_width = agent->effector().queuedNextViewWidth().width() * 0.5;
 
-    for ( std::vector< Vector2D >::const_iterator p = M_points.begin();
-          p != M_points.end();
-          ++p )
+    for ( const Vector2D & p : M_points )
     {
-        Vector2D rel_pos = *p - next_pos;
+        Vector2D rel_pos = p - next_pos;
         AngleDeg rel_angle = rel_pos.th() - next_body;
 
         if ( rel_angle.abs() < ServerParam::i().maxNeckAngle() + next_view_width - 5.0 )
         {
             dlog.addText( Logger::ACTION,
                           __FILE__": Neck_TurnToPoint (%.1f %.1f) rel_angle = %.1f",
-                          p->x, p->y, rel_angle.degree() );
+                          p.x, p.y, rel_angle.degree() );
             return agent->doTurnNeck( rel_angle - agent->world().self().neck() );
         }
     }

rcsc/action/bhv_scan_field.cpp

@@ -52,7 +52,7 @@ bool
 Bhv_ScanField::execute( PlayerAgent * agent )
 {
     dlog.addText( Logger::ACTION,
-                  __FILE__": Bhf_ScanField" );
+                  __FILE__": Bhv_ScanField" );
 
     const WorldModel & wm = agent->world();
 
@@ -86,10 +86,10 @@ Bhv_ScanField::findBall( PlayerAgent * agent )
 {
     const WorldModel & wm = agent->world();
 
-    if ( wm.seeTime() != wm.time() )
+    if ( wm.seeTimeStamp() < wm.decisionTimeStamp() )
     {
         dlog.addText( Logger::ACTION,
-                      __FILE__": (findBall) no current see info" );
+                      __FILE__": (findBall) no see info after the previous decision" );
         agent->doTurn( 0.0 );
         agent->setNeckAction( new Neck_TurnToRelative( wm.self().neck() ) );
         return;
@@ -143,10 +143,10 @@ Bhv_ScanField::scanAllField( PlayerAgent * agent )
 {
     const WorldModel & wm = agent->world();
 
-    if ( wm.seeTime() != wm.time() )
+    if ( wm.seeTimeStamp() < wm.decisionTimeStamp() )
     {
         dlog.addText( Logger::ACTION,
-                      __FILE__":scanAllField) no current see info" );
+                      __FILE__":scanAllField) no see info after the previous decision" );
         agent->doTurn( 0.0 );
         agent->setNeckAction( new Neck_TurnToRelative( wm.self().neck() ) );
         return;

rcsc/action/body_advance_ball2009.cpp

@@ -72,19 +72,15 @@ calc_score( const PlayerAgent * agent,
     const AngleDeg target_left_angle = target_angle - 30.0;
     const AngleDeg target_right_angle = target_angle + 30.0;
 
-    for ( PlayerObject::Cont::const_iterator it = agent->world().opponentsFromSelf().begin(),
-              end = agent->world().opponentsFromSelf().end();
-          it != end;
-          ++it )
+    for ( const PlayerObject * o : agent->world().opponentsFromSelf() )
     {
-        if ( (*it)->distFromBall() > 40.0 ) continue;
+        if ( o->distFromBall() > 40.0 ) continue;
 
-        if ( (*it)->angleFromSelf().isWithin( target_left_angle,
-                                              target_right_angle ) )
+        if ( o->angleFromSelf().isWithin( target_left_angle, target_right_angle ) )
         {
-            Vector2D project_point = angle_line.projection( (*it)->pos() );
+            Vector2D project_point = angle_line.projection( o->pos() );
             double width = std::max( 0.0,
-                                     angle_line.dist( (*it)->pos() ) - kickable_area );
+                                     angle_line.dist( o->pos() ) - kickable_area );
             double dist = agent->world().self().pos().dist( project_point );
             score *= width / dist;
         }

rcsc/action/body_clear_ball2009.cpp

@@ -67,12 +67,9 @@ get_minimum_evaluation( const AbstractPlayerObject::Cont & container,
 {
     double min_value = std::numeric_limits< double >::max();
 
-    for ( AbstractPlayerObject::Cont::const_iterator it = container.begin(),
-              end = container.end();
-          it != end;
-          ++it )
+    for ( const AbstractPlayerObject * p : container )
     {
-        double value = (*evaluator)( **it );
+        double value = (*evaluator)( *p );
 
         if ( value < min_value )
         {
@@ -97,14 +94,11 @@ get_free_angle( const WorldModel & wm,
     //                  360.0 );
 
     double min_diff = 360.0;
-    for ( AbstractPlayerObject::Cont::const_iterator p = wm.theirPlayers().begin(),
-              end = wm.theirPlayers().end();
-          p != end;
-          ++p )
+    for ( const AbstractPlayerObject * p : wm.theirPlayers() )
     {
-        if ( (*p)->distFromBall() > 35.0 ) continue;
+        if ( p->distFromBall() > 35.0 ) continue;
 
-        double angle_diff = ( angle - (*p)->angleFromBall() ).abs();
+        double angle_diff = ( angle - p->angleFromBall() ).abs();
         if ( angle_diff < min_diff )
         {
             min_diff = angle_diff;
@@ -315,7 +309,7 @@ get_clear_course( const WorldModel & wm )
     s_update_time = wm.time();
 
 #ifdef DEBUG_PROFILE
-    MSecTimer timer;
+    Timer timer;
 #endif
     s_last_angle = get_clear_course_recursive( wm,
                                                25.0, /* safe angle */