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

#include <Pass.h>
#include <Shoot.h>
#include <Clear.h>
#include <Dribble.h>
#include <SRPDribble.h>
#include <WithBallPlayOnDecision.h>


#define CLEAR_NUM 0
#define PASS_NUM 1
#define SHOOT_NUM 2
#define DRIBBLE_NUM 3
#define SRPDRIBBLE_NUM 4


WithBallPlayOnDecision::WithBallPlayOnDecision(const WorldModel *worldModel,
		SayDecisionFlags &sayFlags, TurnNeckMode &turnNeckMode):
		BodyDecision(worldModel, sayFlags, turnNeckMode)
{
	addAdvancedAction(new Clear(worldModel),
		AdvancedActionWeights(0, 1, 1), 2);
	addAdvancedAction(new Pass(worldModel),
		AdvancedActionWeights(0, 1, 1), 0);
	addAdvancedAction(new Shoot(worldModel),
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new Dribble(worldModel),
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new SRPDribble(worldModel),
		AdvancedActionWeights(0, 1, 1), 0);

	initWeights();

	dynamic_cast<Pass *>(advancedActions[PASS_NUM])->
			setCurKickCalculate(&worldModel->getCurKickCalculate());
}

WithBallPlayOnDecision::~WithBallPlayOnDecision()
{
}

DecideType WithBallPlayOnDecision::decide(int quickLevel, DecideType lastDecide)
{
	loadWeights(quickLevel);

	turnNeckMode = TNM_LOOK_CAREFULLY;
	
//	dynamic_cast<Shoot *>(advancedActions[SHOOT_NUM])->
//			giveLastDecide(lastDecide);

	lastWithBallDecide = BodyDecision::decide(quickLevel);
	return lastWithBallDecide;
}

void WithBallPlayOnDecision::loadWeights(int quickLevel)
{
	weights[SHOOT_NUM].alpha = config["Deciding"]["Shoot"]["Alpha"].asFloat();
	weights[SHOOT_NUM].power = config["Deciding"]["Shoot"]["Power"].asFloat();
	weights[SHOOT_NUM].rate = config["Deciding"]["Shoot"]["Rate"].asFloat();

	weights[DRIBBLE_NUM].alpha = config["Deciding"]["Dribble"]["Alpha"].asFloat();
	weights[DRIBBLE_NUM].power = config["Deciding"]["Dribble"]["Power"].asFloat();
	weights[DRIBBLE_NUM].rate = config["Deciding"]["Dribble"]["Rate"].asFloat();

	if (quickLevel == 0)
	{
		weights[PASS_NUM].alpha = config["Deciding"]["Pass"]["Alpha"].asFloat();
		weights[PASS_NUM].power = config["Deciding"]["Pass"]["Power"].asFloat();
		weights[PASS_NUM].rate = config["Deciding"]["Pass"]["Rate"].asFloat();

		weights[SRPDRIBBLE_NUM].alpha = config["Deciding"]["SRPDribble"]["Alpha"].asFloat();
		weights[SRPDRIBBLE_NUM].power = config["Deciding"]["SRPDribble"]["Power"].asFloat();
		weights[SRPDRIBBLE_NUM].rate = config["Deciding"]["SRPDribble"]["Rate"].asFloat();
	}
	else
	{
		weights[PASS_NUM].alpha = config["Deciding"]["QuickPass"]["Alpha"].asFloat();
		weights[PASS_NUM].power = config["Deciding"]["QuickPass"]["Power"].asFloat();
		weights[PASS_NUM].rate = config["Deciding"]["QuickPass"]["Rate"].asFloat();

		weights[SRPDRIBBLE_NUM].alpha = config["Deciding"]["QuickSRPDribble"]["Alpha"].asFloat();
		weights[SRPDRIBBLE_NUM].power = config["Deciding"]["QuickSRPDribble"]["Power"].asFloat();
		weights[SRPDRIBBLE_NUM].rate = config["Deciding"]["QuickSRPDribble"]["Rate"].asFloat();
	}
}

void WithBallPlayOnDecision::initWeights()
{
	config.add("Deciding");
	config["Deciding"].setByFile("./Configs/DecidingWeights.conf");
}

DecideType WithBallPlayOnDecision::getLastWithBallDecide() const
{
	return lastWithBallDecide;
}