pass.h

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: Ahmad Boorghany
 *  Released on Friday 1 April 2005 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#ifndef __PASS_H
#define __PASS_H


#include <Dribble.h>
#include <AdvancedAction.h>


#define CROSS_DIR_STEP 5.00
#define CROSS_DIR_NUM 12
#define CROSS_CENTER_POINT Point(45, 0)
#define CROSS_CALCULATES_NUM CROSS_DIR_NUM
#define CROSS_PERMITTED_X 30

#define MIN_PASS_DIST 2
#define MAX_FACTORS_NUM 4
#define PASS_OFFSIDE_DELTA_DIST (-2)
#define SUGGEST_REAL_DELTA_WEIGHT (-6)


enum PassModel
{
	PAM_CROSS,
	PAM_CROSS_SPECIAL,
	PAM_OFFENSE,
	PAM_SECURE_BALL,
	PAM_BREAK_OFFSIDE,
	PAM_SUGGESTED,
	PAM_KICK_OFF
};

struct PassWeightFactor
{
	float minValue;
	float maxValue;
	float minWeight;
	float maxWeight;
};

struct PassFactors
{
	PassWeightFactor posDev;
	PassWeightFactor offense;
	PassWeightFactor seeInfo;
	PassWeightFactor ballDist;
	PassWeightFactor dashDist;
	PassWeightFactor breakOffside;
	PassWeightFactor passedOppNum;
	PassWeightFactor statusOppNum;
	PassWeightFactor securityDeltaCycle;
	PassWeightFactor statusOppDist;
	PassWeightFactor statusOppDir;
	PassWeightFactor statusShoot;
	PassWeightFactor dribblePath;
	PassWeightFactor defenseLine;
	PassWeightFactor extraCatch;
};

class CrossCalculate: public KickCalculate
{
public:
	virtual ~CrossCalculate();

	void init();
	void update(const WorldModel *worldModel);
};

class Pass: public AdvancedAction
{
protected:
	// global pass vars
	float crossRate;
	float crossAlpha;
	float offenseRate;
	float offenseAlpha;
	float secureBallRate;
	float secureBallAlpha;
	float breakOffsideRate;
	float breakOffsideAlpha;
	unsigned logLevel;

	float offenseValues[KICK_CALCULATES_NUM];
	float secureBallValues[KICK_CALCULATES_NUM];
	float breakOffsideValues[KICK_CALCULATES_NUM];
	float crossValues[KICK_CALCULATES_NUM + CROSS_CALCULATES_NUM];

	unsigned offenseMaxer;
	unsigned secureBallMaxer;
	unsigned breakOffsideMaxer;
	unsigned crossMaxer;

	PassFactors crossFactors;
	PassFactors offenseFactors;
	PassFactors secureBallFactors;
	PassFactors breakOffsideFactors;

	DribblePath dribblePath;
	CrossCalculate *crossCalculate;
	const KickCalculate *curKickCalculate;

	// the best pass informations
	float passValue;
	PassModel passModel;
	KickCommand *passCommand;
	const Player *passPlayer;
	const KickInterceptCalculate *passInterCalc;

	void fillValues();
	void resetValues();
	void fillMaxValues();
	void applyGlobalVars();
	void loadPassFactors();
	void applyNoiseValues();
	void calculateGlobalVars();
	void fillPassValuesByFactors(const KickCalculate &kickCalc,
			const PassFactors **factors,
			float *valuesList[], unsigned num = 1);
	void fillOnePassValuesByFactors(const KickInterceptCalculate &interCalc,
			const PassFactors **factors,
			float *valuesList[], unsigned num = 1);
	void fillOtherCrossValuesByFactors(const CrossCalculate &crossCalc,
			const PassFactors &factors, float values[]);
	float getTheBestPass(const KickInterceptCalculate *&interCalc);
	float getPlanWeight(unsigned kickerNum, unsigned passNum,
			const Point &kickPoint);

public:
	Pass(const WorldModel *worldModel, bool dontCreateCrossCalc = false);
	virtual ~Pass();

	static float getShootDirValue(const Point &point,
			const WorldModel *worldModel);

	virtual void execute(SayDecisionFlags &sayFlags);
	virtual float getValue();
	virtual DecideType getType();

	// getting functions
	float getPassValue() const;
	PassModel getPassModel() const;
	const Player *getPassPlayer() const;
	const KickInterceptCalculate *getPassInterCalc() const;

	// setting functions
	void setCurKickCalculate(const KickCalculate *curKickCalculateArg);
};


#endif // __PASS_H