keepertricks.cc

该文件是包含了机器人足球比赛中的整个系统的代码

// Bag of primarily Keeper tricks

#include <math.h>

#include "KeeperTricks.h"
#include "MovementTricks.h"
#include "BasicTricks.h"
#include "HeadTricks.h"
#include "../Common/Common.h"
#include "../Globals.h"


KeeperTricks::ChaseWithKick::ChaseWithKick() {
  currentTrick = new BasicTricks::NullBody();
  headTrick = new BasicTricks::NullHead();
  justKicked = false;
  interruptible = true;
}

KeeperTricks::ChaseWithKick::~ChaseWithKick() {
  delete currentTrick;
  delete headTrick;
}
int KeeperTricks::ChaseWithKick::Start() {
  return Continue();
}
int KeeperTricks::ChaseWithKick::Abort() {
  currentTrick->Abort();
  headTrick->Abort();
  return 0;
}
int KeeperTricks::ChaseWithKick::Continue() {
  headTrick->Continue();
  int cC = currentTrick->Continue();
  char* cMsg = currentTrick->GetErrorMsg(cC);

  if (cC < 1) {
    delete currentTrick;
    if (strcmp(cMsg,"BALL_UNDER_CHIN") == 0) {
      // we want to clear the current step so the damn thing stops moving ASAP !
      utils.Step(LocomotionCommand::TP_WALK,0.0,0.0,0.0,0.0,1.0);
      currentTrick = ks.KeeperSelecta(wo_self_->x_, wo_self_->y_, wo_self_->heading_);
      interruptible = false;
      justKicked = true;
    } else if (strcmp(cMsg,"SEE_BALL_AFTER_KICK") == 0 || vo_ball_ != NULL) {
      interruptible = true;
      currentTrick = new MovementTricks::ChaseBall();
    } else {
      interruptible = true;
      currentTrick = new BasicTricks::NullBody();
      return 0;
    }
    currentTrick->Start();
  } else if (strcmp(cMsg,"GRAB_FAIL") == 0) {
    // if grab failed, we want to totally abort.
    // this generally means that a WaitForGrab ended and we could still see the ball (!!)
      cout << "ChaseWithKick: Failed grab." << endl << flush;
      currentTrick->Abort();
      interruptible = true;
      delete currentTrick;
      currentTrick = new MovementTricks::ChaseBall();
      currentTrick->Start();
  }
  // if we've just lost the ball (CLOSE_SEARCH), we're not interruptible for this frame!
  if (interruptible && (strcmp(cMsg,"CLOSE_SEARCH")!=0) ) return 1;
  return 2;
}
bool KeeperTricks::ChaseWithKick::IsUsingHead() {
  return true;
}
char* KeeperTricks::ChaseWithKick::GetErrorMsg(int c) {
  if (c == 0) return "CWK_DONE";
  else if (c == 1) return "INTERRUPTIBLE";
  else if (c == 2) return "NOT_INTERRUPTIBLE";
  return "CWK:NO_MESSAGE";
}
char* KeeperTricks::ChaseWithKick::GetName() {
  return "ChaseWithKick";
}
// END ChaseWithkick
//////////////////////////////////////////////////////////////////////