tackle.cpp

mersad源码 03年robocup 季军 可以研究一下大家

/*
 *  Copyright 2002-2004, Mersad Team, Allame Helli High School (NODET).
 *
 *  This program is free software, you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU Library General Public License for more details.
 *
 *  Created by: Meisam Vosoughpour
 *  Released on Friday 1 April 2005 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <cmath>

#include <Tackle.h>
#include <Degree.h>
#include <BasicDash.h>
#include <Logger.h>

using namespace std;

float Tackle::getValue()
{
	LOG << "Tackle getValue()" << endl;
	if (worldModel->getPlayMode() == PM_PENALTY_SETUP ||
		worldModel->getPlayMode() == PM_PENALTY_SETUP_OPP ||
		worldModel->getPlayMode() == PM_PENALTY_READY_OPP ||
		worldModel->getPlayMode() == PM_PENALTY_READY)
	{
		LOG << "TACKLE : penalty AD_MIN_VALUE" << endl;	
		return AD_MIN_VALUE;
	}
	
	if ((worldModel->getBallStatus() != BS_KICKABLE_OPP &&
		worldModel->getBallStatus() != BS_FREE_BALL_OPP) ||
		fabs(worldModel->getBall().getBodyVec().getDirection()) > 85)
	{
		LOG << "TACKLE : AD_MIN_VALUE" << endl;	
		return AD_MIN_VALUE;		
	}
	
	if (lastDecide == DT_SRPDRIBBLE || lastDecide == DT_DRIBBLE_INTERCEPT)
		if (worldModel->getBallStatus() != BS_KICKABLE_OPP)
		{
			LOG << "bayad 1 tackle zamime mikardam vali chon hooshmad shodam, nakardam." << endl;
			return AD_MIN_VALUE;
		}		


	float failTackleProb, succTackleProb;
	
	failTackleProb = pow((worldModel->getBall().getBodyVec().getX() / 
					worldModel->getServerParam()["tackle_dist"].asFloat()), 6) +
					pow((fabs(worldModel->getBall().getBodyVec().getY()) / 
					worldModel->getServerParam()["tackle_width"].asFloat()), 6);

	if (failTackleProb > 1)
		failTackleProb = 1;

	if (failTackleProb < 0)
		failTackleProb = 0;
	
	succTackleProb = 1 - failTackleProb;
	
	LOG << "TACKLE : failTackleProb : " << failTackleProb << endl;
	if (succTackleProb > .5)
	{
		if (fabs(worldModel->getBody().getBodyDir()) < 90)  
			tackleCommand = new TackleCommand(100);
		else
			tackleCommand = new TackleCommand(-100);
		return AD_ALWAYS_RUN_VALUE;	
	} 	

	return AD_MIN_VALUE;
}

Tackle::Tackle(const WorldModel *worldModel): AdvancedAction(worldModel)
{
}

void Tackle::execute(SayDecisionFlags &sayFlags)
{
	LOG << "Tackle::execute" << endl;

	command = tackleCommand;
}

Tackle::~Tackle()
{
}

DecideType Tackle::getType()
{
	return DT_TACKLE;
}

void Tackle::giveLastDecide(DecideType lastDecideArg)
{
	lastDecide = lastDecideArg;
}