C++ "multiple definition of .. first defined here 错误的修改

今天将Helios有关代码抠到我们的底层时，发现不少地方出现"multiple definition of .. first defined here 错误。这个文件的.h和.cpp文件在下面。以及修改方法：

============================h文件===============================

#ifndef HELIOS_BHV_DANGER_AREA_TACKLE_H
#define HELIOS_BHV_DANGER_AREA_TACKLE_H


#include <rcsc/player/soccer_action.h>


class Bhv_DangerAreaTackle
: public rcsc::SoccerBehavior {
private:
const double M_min_probability;
public:
Bhv_DangerAreaTackle( const double & min_prob = 0.85 )
: M_min_probability( min_prob )
{ }


bool execute( rcsc::PlayerAgent * agent );


private:
bool clearGoal( rcsc::PlayerAgent * agent ); //修改为bool clearGoal( rcsc::PlayerAgent * agent )const;

bool executeOld( rcsc::PlayerAgent * agent ); //修改为bool executeOld( rcsc::PlayerAgent * agent )const;

bool executeV12( rcsc::PlayerAgent * agent ); //修改为bool executeV12( rcsc::PlayerAgent * agent )const;


};


#endif

============================cpp文件===============================

#include "bhv_danger_area_tackle.h"
#include <rcsc/action/neck_turn_to_ball_or_scan.h>
#include <rcsc/player/player_agent.h>
#include <rcsc/player/intercept_table.h>
#include <rcsc/player/debug_client.h>
#include <rcsc/common/logger.h>
#include <rcsc/common/server_param.h>
#include <rcsc/geom/line_2d.h>
#include <rcsc/geom/ray_2d.h>


/*-------------------------------------------------------------------*/
/*!


*/
bool
Bhv_DangerAreaTackle::execute( rcsc::PlayerAgent * agent )
{
// static rcsc::GameTime s_last_execute_time( 0, 0 );


rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": Bhv_DangerAreaTackle" );


const rcsc::WorldModel & wm = agent->world();


// if ( s_last_execute_time == wm.time() )
// {
// rcsc::dlog.addText( rcsc::Logger::TEAM,
// __FILE__": called several times" );
// return false;
// }
// s_last_execute_time = wm.time();


if ( clearGoal( agent ) )
{
return true;
}


if ( wm.self().tackleProbability() < M_min_probability )
{
rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": failed. low tackle_prob=%.2f < %.2f",
wm.self().tackleProbability(),
M_min_probability );
return false;
}


const int self_min = wm.interceptTable()->selfReachCycle();
const int mate_min = wm.interceptTable()->teammateReachCycle();
const int opp_min = wm.interceptTable()->opponentReachCycle();


bool ball_shall_be_in_our_goal = false;




//
// check where the ball shall be gone without tackle
//
#if 0
ball_shall_be_in_our_goal = false;


rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": ball_shall_be_in_our_goal unchecked" );
#else
const double goal_half_width = rcsc::ServerParam::i().goalHalfWidth();


const rcsc::Vector2D goal_center = rcsc::ServerParam::i().ourTeamGoalPos();
const rcsc::Vector2D goal_left_post( goal_center.x, +goal_half_width );
const rcsc::Vector2D goal_right_post( goal_center.x, -goal_half_width );
bool is_shoot_ball = ( ( (goal_left_post - wm.ball().pos() ).th()
- wm.ball().vel().th() ).degree() < 0
&& ( ( goal_right_post - wm.ball().pos() ).th()
- wm.ball().vel().th() ).degree() > 0 );


const int self_reach_cycle = wm.interceptTable()->selfReachCycle();


if ( is_shoot_ball
&& wm.ball().inertiaPoint( self_reach_cycle ).x
<= rcsc::ServerParam::i().ourTeamGoalLineX() )
{
ball_shall_be_in_our_goal = true;
}


rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": ball_shall_be_in_our_goal = %s",
( ball_shall_be_in_our_goal ? "true" : "false" ) );
#endif


if ( wm.existKickableOpponent()
|| ball_shall_be_in_our_goal
|| ( opp_min < self_min
&& opp_min < mate_min ) )
{


}
else
{
rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": failed. not necessary." );
return false;
}


//
// v11 or older
//


if ( agent->config().version() < 12.0 )
{
return executeOld( agent );
}
else
{
return executeV12( agent );
}


return false;
}




/*-------------------------------------------------------------------*/
/*!


*/
bool
Bhv_DangerAreaTackle::clearGoal( rcsc::PlayerAgent * agent )//加上const
{
const rcsc::WorldModel & wm = agent->world();


if ( wm.self().tackleProbability() <= 0.0 )
{
return false;
}


const rcsc::ServerParam & param = rcsc::ServerParam::i();


const int self_min = wm.interceptTable()->selfReachCycle();


const rcsc::Vector2D self_trap_pos = wm.ball().inertiaPoint( self_min );
if ( self_trap_pos.x > - param.pitchHalfLength() + 0.5 )
{
return false;
}


//
// cannot intercept the ball in the field
//


rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": my trap pos(%.1f %.1f) < pitch.x",
self_trap_pos.x, self_trap_pos.y );


const rcsc::Ray2D ball_ray( wm.ball().pos(), wm.ball().vel().th() );
const rcsc::Line2D goal_line( rcsc::Vector2D( - param.pitchHalfLength(), 10.0 ),
rcsc::Vector2D( - param.pitchHalfLength(), -10.0 ) );
const rcsc::Vector2D intersect = ball_ray.intersection( goal_line );
if ( ! intersect.valid()
|| intersect.absY() > param.goalHalfWidth() + 0.5 )
{
return false;
}


//
// ball is moving to our goal
//


rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": ball is moving to our goal" );




if ( agent->config().version() < 12.0 )
{
double tackle_power = ( wm.self().body().abs() > 90.0
? param.maxTacklePower()
: - param.maxBackTacklePower() );


rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": clear goal" );
agent->debugClient().addMessage( "tackleClearOld%.0f", tackle_power );
agent->doTackle( tackle_power );
agent->setNeckAction( new rcsc::Neck_TurnToBallOrScan() );
return true;
}


//
// search best angle
//


const rcsc::Line2D line_c( rcsc::Vector2D( -param.pitchHalfLength(), 0.0 ),
rcsc::Vector2D( 0.0, 0.0 ) );
const rcsc::Line2D line_l( rcsc::Vector2D( -param.pitchHalfLength(), -param.goalHalfWidth() ),
rcsc::Vector2D( 0.0, -param.goalHalfWidth() ) );
const rcsc::Line2D line_r( rcsc::Vector2D( -param.pitchHalfLength(), -param.goalHalfWidth() ),
rcsc::Vector2D( 0.0, -param.goalHalfWidth() ) );


const rcsc::AngleDeg ball_rel_angle
= wm.ball().angleFromSelf() - wm.self().body();
const double tackle_rate
= ( param.tacklePowerRate()
* ( 1.0 - 0.5 * ( ball_rel_angle.abs() / 180.0 ) ) );


rcsc::AngleDeg best_angle = 0.0;
double max_speed = -1.0;


for ( double a = -180.0; a < 180.0; a += 10.0 )
{
rcsc::AngleDeg target_rel_angle = a - wm.self().body().degree();


double eff_power = param.maxBackTacklePower()
+ ( ( param.maxTacklePower() - param.maxBackTacklePower() )
* ( 1.0 - target_rel_angle.abs() / 180.0 ) );
eff_power *= tackle_rate;


rcsc::Vector2D vel = wm.ball().vel()
+ rcsc::Vector2D::polar2vector( eff_power, rcsc::AngleDeg( a ) );
rcsc::AngleDeg vel_angle = vel.th();


if ( vel_angle.abs() > 80.0 )
{
rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": clearGoal() angle=%.1f. vel_angle=%.1f is dangerouns",
a,
vel_angle.degree() );
continue;
}




double speed = vel.r();


int n_intersects = 0;
if ( ball_ray.intersection( line_c ).valid() ) ++n_intersects;
if ( ball_ray.intersection( line_l ).valid() ) ++n_intersects;
if ( ball_ray.intersection( line_r ).valid() ) ++n_intersects;


if ( n_intersects == 3 )
{
rcsc::dlog.addText( rcsc::Logger::TEAM,
"__ angle=%.1f vel=(%.1f %.1f)"
" 3 intersects with v_lines. angle is dangerous.",
a, vel.x, vel.y );
speed -= 2.0;
}
else if ( n_intersects == 2
&& wm.ball().pos().absY() > 3.0 )
{
rcsc::dlog.addText( rcsc::Logger::TEAM,
"__ executeV12() angle=%.1f vel=(%.1f %.1f)"
" 2 intersects with v_lines. angle is dangerous.",
a, vel.x, vel.y );
speed -= 2.0;
}


if ( speed > max_speed )
{
max_speed = speed;
best_angle = target_rel_angle + wm.self().body();
rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": clearGoal() update. angle=%.1f vel_angle=%.1f speed=%.2f",
a,
vel_angle.degree(),
speed );
}
else
{
rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": clearGoal() no_update. angle=%.1f vel_angle=%.1f speed=%.2f",
a,
vel_angle.degree(),
speed );
}
}


//
// never accelerate the ball
//


if ( max_speed < 1.0 )
{
rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": failed clearGoal. max_speed=%.3f", max_speed );
return false;
}


rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": clear goal" );
agent->debugClient().addMessage( "tackleClear%.0f", best_angle.degree() );
agent->doTackle( ( best_angle - wm.self().body() ).degree() );
agent->setNeckAction( new rcsc::Neck_TurnToBallOrScan() );


return true;
}




/*-------------------------------------------------------------------*/
/*!


*/
bool
Bhv_DangerAreaTackle::executeOld( rcsc::PlayerAgent * agent )//加上const
{
const rcsc::WorldModel & wm = agent->world();


if ( wm.self().pos().absY() > rcsc::ServerParam::i().goalHalfWidth() + 5.0 )
{
// out of goal
double tackle_power = rcsc::ServerParam::i().maxTacklePower();
if ( wm.self().body().abs() < 10.0 )
{


}
else if ( wm.self().body().abs() > 170.0 )
{
tackle_power = - rcsc::ServerParam::i().maxBackTacklePower();
if ( tackle_power >= -1.0 )
{
return false;
}
}
else if ( wm.self().body().degree() * wm.self().pos().y < 0.0 )
{
tackle_power = - rcsc::ServerParam::i().maxBackTacklePower();
if ( tackle_power >= -1.0 )
{
return false;
}
}


if ( std::fabs( tackle_power ) < 1.0 )
{
return false;
}


rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": out of goal width" );
agent->debugClient().addMessage( "tackle(1)" );
agent->doTackle( tackle_power );
agent->setNeckAction( new rcsc::Neck_TurnToBallOrScan() );
return true;
}
else
{
// within goal width
int power_sign = 0;
double abs_body = wm.self().body().abs();


if ( abs_body < 70.0 ) power_sign = 1;
if ( abs_body > 110.0 ) power_sign = -1;
if ( power_sign == 0 )
{
power_sign = ( wm.self().body().degree() > 0.0
? 1
: -1 );
if ( wm.ball().pos().y < 0.0 )
{
power_sign *= -1;
}
}


double tackle_power = ( power_sign >= 0
? rcsc::ServerParam::i().maxTacklePower()
: - rcsc::ServerParam::i().maxBackTacklePower() );
if ( std::fabs( tackle_power ) < 1.0 )
{
return false;
}


if ( power_sign != 0 )
{
rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": power_sign=%d",
power_sign );
agent->debugClient().addMessage( "tackle(%d)", power_sign );
agent->doTackle( tackle_power );
agent->setNeckAction( new rcsc::Neck_TurnToBallOrScan() );
return true;
}
}


return false;
}


/*-------------------------------------------------------------------*/
/*!


*/
bool
Bhv_DangerAreaTackle::executeV12( rcsc::PlayerAgent * agent )//加上const
{
const rcsc::WorldModel & wm = agent->world();
const rcsc::ServerParam & param = rcsc::ServerParam::i();
const rcsc::PlayerPtrCont::const_iterator o_end = wm.opponentsFromBall().end();


const rcsc::Vector2D goal( - param.pitchHalfLength(), 0.0 );
const rcsc::Vector2D virtual_accel = ( wm.existKickableOpponent()
? ( goal - wm.ball().pos() ).setLengthVector( 1.0 )
: rcsc::Vector2D( 0.0, 0.0 ) );
const rcsc::Line2D goal_line( rcsc::Vector2D( - param.pitchHalfLength(), 10.0 ),
rcsc::Vector2D( - param.pitchHalfLength(), -10.0 ) );
const rcsc::Line2D line_c( rcsc::Vector2D( -param.pitchHalfLength(), 0.0 ),
rcsc::Vector2D( 0.0, 0.0 ) );
const rcsc::Line2D line_l( rcsc::Vector2D( -param.pitchHalfLength(), -param.goalHalfWidth() ),
rcsc::Vector2D( 0.0, -param.goalHalfWidth() ) );
const rcsc::Line2D line_r( rcsc::Vector2D( -param.pitchHalfLength(), -param.goalHalfWidth() ),
rcsc::Vector2D( 0.0, -param.goalHalfWidth() ) );


const rcsc::AngleDeg ball_rel_angle
= wm.ball().angleFromSelf() - wm.self().body();
const double tackle_rate
= ( param.tacklePowerRate()
* ( 1.0 - 0.5 * ( ball_rel_angle.abs() / 180.0 ) ) );


rcsc::AngleDeg best_angle = 0.0;
double max_speed = -1.0;


for ( double a = -180.0; a < 180.0; a += 10.0 )
{
rcsc::AngleDeg rel_angle = a - wm.self().body().degree();


double eff_power = param.maxBackTacklePower()
+ ( ( param.maxTacklePower() - param.maxBackTacklePower() )
* ( 1.0 - rel_angle.abs() / 180.0 ) );
eff_power *= tackle_rate;


rcsc::Vector2D vel = ( wm.ball().vel()
+ rcsc::Vector2D::polar2vector( eff_power, rcsc::AngleDeg( a ) ) );
vel += virtual_accel;


const rcsc::Ray2D ball_ray( wm.ball().pos(), vel.th() );
const rcsc::Vector2D intersect = ball_ray.intersection( goal_line );
if ( intersect.valid()
&& intersect.absY() < param.goalHalfWidth() + 5.0 )
{
rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": executeV12() angle=%.1f vel=(%.1f %.1f)"
" intersect is dangerous.",
a, vel.x, vel.y );
continue;
}


const rcsc::Vector2D ball_next = wm.ball().pos() + vel;


bool maybe_opponent_get_ball = false;
for ( rcsc::PlayerPtrCont::const_iterator o = wm.opponentsFromBall().begin();
o != o_end;
++o )
{
if ( (*o)->posCount() > 10 ) continue;
if ( (*o)->isGhost() ) continue;
if ( (*o)->isTackling() ) continue;
if ( (*o)->distFromBall() > 6.0 ) break;;


rcsc::Vector2D opp_pos = (*o)->pos() + (*o)->vel();
if ( opp_pos.dist( ball_next ) < 1.0 )
{
maybe_opponent_get_ball = true;
break;
}
}


if ( maybe_opponent_get_ball )
{
rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": executeV12() angle=%.1f vel=(%.1f %.1f)"
" maybe opponent get ball.",
a, vel.x, vel.y );
continue;
}


double speed = vel.r();




int n_intersects = 0;
if ( ball_ray.intersection( line_c ).valid() ) ++n_intersects;
if ( ball_ray.intersection( line_l ).valid() ) ++n_intersects;
if ( ball_ray.intersection( line_r ).valid() ) ++n_intersects;


if ( n_intersects == 3 )
{
rcsc::dlog.addText( rcsc::Logger::TEAM,
"__ angle=%.1f vel=(%.1f %.1f)"
" 3 intersects with v_lines. angle is dangerous.",
a, vel.x, vel.y );
speed -=2.0;
}
else if ( n_intersects == 2
&& wm.ball().pos().absY() > 3.0 )
{
rcsc::dlog.addText( rcsc::Logger::TEAM,
"__ angle=%.1f vel=(%.1f %.1f)"
" 2 intersects with v_lines. angle is dangerous.",
a, vel.x, vel.y );
speed -= 2.0;
}


if ( speed > max_speed )
{
max_speed = speed;
best_angle = a;
rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": executeV12() angle=%.1f vel=(%.1f %.1f)%.2f"
" update.",
a, vel.x, vel.y, speed );
}
else
{
rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": executeV12() angle=%.1f vel=(%.1f %.1f)%.2f"
" no update.",
a, vel.x, vel.y, speed );
}
}


//
// never accelerate the ball
//


if ( max_speed < 1.0 )
{
rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": failed executeV12 max_speed=%.3f" );
return false;
}


//
// execute tackle
//


rcsc::dlog.addText( rcsc::Logger::TEAM,
__FILE__": danger area tackle angle=%.0f", best_angle.degree() );
agent->debugClient().addMessage( "DanAreaTackle%.0f", best_angle.degree() );
agent->doTackle( ( best_angle - wm.self().body() ).degree() );
agent->setNeckAction( new rcsc::Neck_TurnToBallOrScan() );


return true;
}

补充：

标题:const放在后面有什么意思？

--------------------------------------------------------------------------------
一个函数
AcGePoint3dstartPoint() const;
const放在后面跟前面有区别么

==>
准确的说const是修饰this指向的对象的
譬如，我们定义了
classA{
public:
f(int);
};
这里f函数其实有两个参数，第一个是A*const this, 另一个才是int类型的参数
如果我们不想f函数改变参数的值，可以把函数原型改为f(constint),但如果我们不允许f改变this指向的对象呢？因为this是隐含参数，const没法直接修饰它，就加在函数的后面了，表示this的类型是constA *constthis。
const修饰*this是本质，至于说“表示该成员函数不会修改类的数据。否则会编译报错”之类的说法只是一个现象，根源就是因为*this是const类型的