pass.cpp

mersad源码 03年robocup 季军 可以研究一下大家

	// calculating statusShoot weight
	float statusShootDir = getShootDirValue(
			checkInterPlayer.getInterPoint(), worldModel);
	float statusShootDist = hypot(checkInterPlayer.getInterPoint().x - 52.5,
			fmin(checkInterPlayer.getInterPoint().y - 4,
				 checkInterPlayer.getInterPoint().y + 4));

	float statusShootValue = statusShootDir -
			fmax(statusShootDist - 10, 0) * 1.15;

	if (logLevel >= 2)
		LOG << "statusShootDir: " << statusShootDir << endl
			<< "statusShootDist: " << statusShootDist << endl
			<< "statusShootValue: " << statusShootValue << endl
			<< "statusShootWeight:";

	for (unsigned i = 0; i < num; i++)
	{
		statusShootWeight[i] = reRate(statusShootValue,
				factors[i]->statusShoot.minValue,
				factors[i]->statusShoot.maxValue,
				factors[i]->statusShoot.minWeight,
				factors[i]->statusShoot.maxWeight,
				RRM_DIRECT);

		if (logLevel >= 2)
			LOG << " " << statusShootWeight[i];
	}

	if (logLevel >= 2)
		LOG << endl;

	// calculating dribblePath weight
	dribblePath.setBeginPoint(checkInterPlayer.getInterPoint());
	dribblePath.setDefaultParams();

	float dribblePathValue = dribblePath.getBestTargetWeight();

	if (logLevel >= 2)
		LOG << "dribblePathValue: " << dribblePathValue << endl
			<< "dribblePathWeight:";

	for (unsigned i = 0; i < num; i++)
	{
		dribblePathWeight[i] = 0;

		if (logLevel >= 2)
			LOG << " " << dribblePathWeight[i];
	}

	if (logLevel >= 2)
		LOG << endl;

	// calculating posDev weight
	float posDevValue = checkInterPlayer.getPlayer().getPosDeviation() *
						checkInterPlayer.getPlayer().getPosDeviation();

	if (logLevel >= 2)
		LOG << "posDevValue: " << posDevValue << endl
			<< "posDevWeight:";

	for (unsigned i = 0; i < num; i++)
	{
		posDevWeight[i] = reRate(posDevValue,
				factors[i]->posDev.minValue, factors[i]->posDev.maxValue,
				factors[i]->posDev.minWeight, factors[i]->posDev.maxWeight,
				RRM_REVERSE);

		if (logLevel >= 2)
			LOG << " " << posDevWeight[i];
	}

	if (logLevel >= 2)
		LOG << endl;

	// calculating ballDist weight
	float ballDistValue = interCalc.getFirstBall().
			getDistance(checkInterPlayer.getInterPoint());

	if (logLevel >= 2)
		LOG << "ballDistValue: " << ballDistValue << endl
			<< "ballDistWeight:";

	for (unsigned i = 0; i < num; i++)
	{
		ballDistWeight[i] = reRate(ballDistValue,
				factors[i]->ballDist.minValue, factors[i]->ballDist.maxValue,
				factors[i]->ballDist.minWeight, factors[i]->ballDist.maxWeight,
				RRM_REVERSE);

		if (logLevel >= 2)
			LOG << " " << ballDistWeight[i];
	}

	if (logLevel >= 2)
		LOG << endl;

	// calculating dashDist weight
	float dashDistValue = checkInterPlayer.getDashDist();

	if (logLevel >= 2)
		LOG << "dashDistValue: " << dashDistValue << endl
			<< "dashDistWeight:";

	for (unsigned i = 0; i < num; i++)
	{
		dashDistWeight[i] = reRate(dashDistValue, 
				factors[i]->dashDist.minValue, factors[i]->dashDist.maxValue, 
				factors[i]->dashDist.minWeight, factors[i]->dashDist.maxWeight, 
				RRM_REVERSE);

		if (logLevel >= 2)
			LOG << " " << dashDistWeight[i];
	}

	if (logLevel >= 2)
		LOG << endl;

	// calculating securityDeltaCycle weight
	unsigned securityDeltaCycleValue = checkInterPlayer.getInterTime() -
			interCalc.getFastestInterPlayer().getInterTime();

	if (logLevel >= 2)
		LOG << "TarPlyGTBTime: " << checkInterPlayer.getInterTime() << endl
			<< "FastestGTBTime: "
			<< interCalc.getFastestInterPlayer().getInterTime() << endl
			<< "securityDeltaCycleValue: " << securityDeltaCycleValue << endl
			<< "securityDeltaCycleWeight:";

	for (unsigned i = 0; i < num; i++)
	{
		securityDeltaCycleWeight[i] = reRate(securityDeltaCycleValue,
				factors[i]->securityDeltaCycle.minValue,
				factors[i]->securityDeltaCycle.maxValue,
				factors[i]->securityDeltaCycle.minWeight,
				factors[i]->securityDeltaCycle.maxWeight, RRM_REVERSE);

		if (logLevel >= 2)
			LOG << " " << securityDeltaCycleWeight[i];
	}

	if (logLevel >= 2)
		LOG << endl;

	// calculating seeInfo weight
	float passAngle = interCalc.getFirstBall().getVel().getDirection();
	float avgSeenBefore = worldModel->getSeeDeltaCycle(passAngle, 0.3);

	float seeInfoValue = 0.333 * (avgSeenBefore * avgSeenBefore) +
			avgSeenBefore;

	if (logLevel >= 2)
		LOG << "AvgSeenBefore: " << avgSeenBefore << endl
			<< "SeeInfoValue: " << seeInfoValue << endl
			<< "SeeInfoWeight:";

	for (unsigned i = 0; i < num; i++)
	{
		seeInfoWeight[i] = reRate(seeInfoValue,
				factors[i]->seeInfo.minValue, factors[i]->seeInfo.maxValue,
				factors[i]->seeInfo.minWeight, factors[i]->seeInfo.maxWeight,
				RRM_REVERSE);

		if (logLevel >= 2)
			LOG << " " << seeInfoWeight[i];
	}

	if (logLevel >= 2)
		LOG << endl;

	// calculating defenseLine weight
	float defenseLineValue = checkInterPlayer.getInterPoint().x -
			worldModel->getTmmDefenseLine();

	if (logLevel >= 2)
		LOG << "defenseLineValue: " << defenseLineValue << endl
			<< "defenseLineWeight:";

	for (unsigned i = 0; i < num; i++)
	{
		defenseLineWeight[i] = reRate(defenseLineValue,
				factors[i]->defenseLine.minValue,
				factors[i]->defenseLine.maxValue,
				factors[i]->defenseLine.minWeight,
				factors[i]->defenseLine.maxWeight,
				RRM_DIRECT);

		if (logLevel >= 2)
			LOG << " " << defenseLineWeight[i];
	}

	if (logLevel >= 2)
		LOG << endl;

	// calculating extraCatch weight
	float extraCatchValue = 0;

	if (logLevel >= 2)
		LOG << "extraCatchValue: " << extraCatchValue << endl
			<< "extraCatchWeight:";

	for (unsigned i = 0; i < num; i++)
	{
		extraCatchWeight[i] = reRate(extraCatchValue,
				factors[i]->extraCatch.minValue,
				factors[i]->extraCatch.maxValue,
				factors[i]->extraCatch.minWeight,
				factors[i]->extraCatch.maxWeight,
				RRM_DIRECT);

		if (logLevel >= 2)
			LOG << " " << extraCatchWeight[i];
	}

	if (logLevel >= 2)
		LOG << endl;

	// calculating plan weight
	if (logLevel >= 2)
		LOG << "planInfo: " << interCalc.getKickPlayer()->getUniNum()
			<< " --> " << checkInterPlayer.getPlayer().getUniNum() << endl
			<< "planWeight:";

	for (unsigned i = 0; i < num; i++)
	{
		planWeight[i] = getPlanWeight(interCalc.getKickPlayer()->getUniNum(),
				checkInterPlayer.getPlayer().getUniNum(),
				interCalc.getFirstBall().getPos());

		if (logLevel >= 2)
			LOG << " " << planWeight[i];
	}

	if (logLevel >= 2)
		LOG << endl;

	// calculating Current weight
	if (logLevel >= 1)
		LOG << "P" << checkInterPlayer.getPlayer().getUniNum()
			<< "\tPoint: " << checkInterPlayer.getInterPoint()
			<< "\t\tweights:";

	for (unsigned i = 0; i < num; i++)
	{
		*valuesList[i] =
				offenseWeight[i] +
				statusShootWeight[i] +
				statusOppNumWeight[i] +
				statusOppDistWeight[i] +
				statusOppDirWeight[i] +
				breakOffsideWeight[i] +
				passedOppNumWeight[i] +
				statusShootWeight[i] +
				dribblePathWeight[i] +
				ballDistWeight[i] +
				dashDistWeight[i] +
				posDevWeight[i] +
				seeInfoWeight[i] +
				securityDeltaCycleWeight[i] +
				defenseLineWeight[i] +
				extraCatchWeight[i] +
				planWeight[i];

		if (logLevel >= 1)
			LOG << "\t" << *valuesList[i];
	}

	if (logLevel >= 1)
		LOG << endl;
}

void Pass::fillPassValuesByFactors(const KickCalculate &kickCalc,
		const PassFactors **factors, float *valuesList[], unsigned num)
{
	float *values[MAX_FACTORS_NUM];

	for (unsigned i = 0; i < kickCalc.getSimulatesNum(); i++)
	{
		if (logLevel >= 3)
			LOG << "New kick: ballVel: "
				<< Point(kickCalc.getSimulate(i).getFirstBall().getVel().getMagnitude(),
					kickCalc.getSimulate(i).getFirstBall().getVel().getDirection()) << endl;

		if (!kickCalc.getSimulate(i).isValid())
		{
			if (logLevel >= 3)
				LOG << "\tBREAK: is not valid." << endl;
			continue;
		}

		if (!kickCalc.getSimulate(i).existFastestPlayer())
		{
			if (logLevel >= 3)
				LOG << "\tBREAK: no fastest." << endl;
			continue;
		}

		if (!kickCalc.getSimulate(i).existFastestTmmPlayer())
		{
			if (logLevel >= 3)
				LOG << "\tBREAK: opp fastest: "
					<< kickCalc.getSimulate(i).getFastestPlayer().getTeamId() << " "
					<< kickCalc.getSimulate(i).getFastestPlayer().getUniNum() << endl;
			continue;
		}

		const KickInterceptPlayer &checkInterPlayer =
				kickCalc.getSimulate(i).getFastestTmmInterPlayer();

		if (logLevel >= 2)
			LOG << "CheckPlayer: " << checkInterPlayer.getPlayer().getTeamId()
				<< " " << checkInterPlayer.getPlayer().getUniNum() << endl;

		if (&checkInterPlayer.getPlayer() == 
				kickCalc.getSimulate(i).getKickPlayer())
		{
			if (logLevel >= 3)
				LOG << "\tBREAK: is kickPlayer." << endl;
			continue;
		}

		if (checkInterPlayer.getPlayer().isGoalie())
		{
			if (logLevel >= 3)
				LOG << "\tBREAK: is goalie." << endl;
			continue;
		}

		if (!checkInterPlayer.isExtraCatched())
		{
			if (logLevel >= 3)
				LOG << "\tBREAK: not extra catched." << endl;
			continue;
		}

/*		if (checkInterPlayer.getPlayer().getPos().getX() >
			worldModel->getOppOffsideLine() + PASS_OFFSIDE_DELTA_DIST)
		{
			if (logLevel >= 3)
				LOG << "\tBREAK: offside." << endl;
			continue;
		}*/

		for (unsigned j = 0; j < num; j++)
			values[j] = &valuesList[j][i];

		fillOnePassValuesByFactors(kickCalc.getSimulate(i),
				factors, values, num);
	}
}

void Pass::fillOtherCrossValuesByFactors(const CrossCalculate &crossCalc,
		const PassFactors &factors, float values[])
{
	float *valuesList[1];
	const PassFactors *factorsList[1] = {&factors};

	if (logLevel >= 1)
		LOG << "Cross Special Values:" << endl;

	for (unsigned i = 0; i < crossCalc.getSimulatesNum(); i++)
	{
		if (logLevel >= 3)
			LOG << "New cross kick: ballVel: "
				<< Point(crossCalc.getSimulate(i).getFirstBall().getVel().getMagnitude(),
					crossCalc.getSimulate(i).getFirstBall().getVel().getDirection()) << endl;
		if (!crossCalc.getSimulate(i).isValid())
		{
			if (logLevel >= 3)
				LOG << "\tBREAK: is not valid." << endl;
			continue;
		}
		if (!crossCalc.getSimulate(i).existFastestTmmPlayer())
		{
			if (logLevel >= 3)
				LOG << "\tBREAK: no fastest." << endl;
			continue;
		}

		const KickInterceptPlayer &checkInterPlayer =
				crossCalc.getSimulate(i).getFastestTmmInterPlayer();

		if (logLevel >= 2)
			LOG << "CheckPlayer: " << checkInterPlayer.getPlayer().getTeamId()
				<< " " << checkInterPlayer.getPlayer().getUniNum() << endl;

		if (checkInterPlayer.getPlayer().isBody())
			continue;
		if (checkInterPlayer.getPlayer().isGoalie())
			continue;
		if (checkInterPlayer.getPlayer().getPos().getX() >
			worldModel->getOppOffsideLine() + PASS_OFFSIDE_DELTA_DIST)
			continue;

		valuesList[0] = &values[i + KICK_CALCULATES_NUM];
		fillOnePassValuesByFactors(crossCalc.getSimulate(i),
				factorsList, valuesList);
	}
}

void Pass::calculateGlobalVars()
{
	logLevel = config["Pass"]["GlobalVars"]["LogLevel"].asInt();

	crossRate = config["Pass"]["GlobalVars"]["CrossRate"].asFloat();