ourtypes.cpp

RoboCup 2D 仿真组老牌强队Mersad 2005的完整源代码

/*
 *  Copyright 2002-2005, Mersad Team, Allameh 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.
 *
 *  This file is created by: Mostafa Rokooey
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

//	LOG << fixed << setprecision(3);

#include <OurTypes.h>
#include <Defines.h>
#include <cassert>
#include <Basics.h>
#include <Logger.h>


using namespace Basics;
using namespace std;

OurTypes::OurTypes(const CoachWorldModel *worldModel,
			const CoachWorldModelHistory &worldModelHistory):
			Task(worldModel, worldModelHistory)
{
	int i;
	
	graph = new AssignmentGraph(21);
	lastChangedTypePlayer = 0;
	loadOurTypesRates();
	for (i = 0; i < 11; i++)
		changePlayerTypeArray[i] = NOVALUE;
	ourTypesChangedFlag = false;
}

bool OurTypes::execute(bool isTrainer)
{
	int i;

	if (!ourTypesChangedFlag)
	{
		setOurTypes();
		ourTypesChangedFlag = true;
	}
		
	for (i = 0; i < 11; i++)
	{
		if (changePlayerTypeArray[i] == NOVALUE)
		{
			if (worldModel->getFullPlayer(TID_TEAMMATE, i).isAlive())
				if ((i + 1) != GOALIE_UNIFORM_NUM)
				{
					changePlayerTypeArray[i] = getPlayerType(i + 1);
					changePlayerCommand = getChangeCommand(i + 1, isTrainer);
					hasChangePlayerCommandFlag = true;
					LOG << "Player " << i + 1 << "'s type changed to type " << changePlayerTypeArray[i] << " ." << endl;
					break;
				}
		}
	}
	
	if (hasChangePlayerCommandFlag)
		return true;
	else
		return false;
}

Command *OurTypes::getChangeCommand(int uniNum, bool isTrainer)
{
	Command *cpc;
	if (isTrainer) {
		string ourTeam = config["Agent"]["Public"]["TeamName"].asString();
		assert(ourTeam != "NULL");
		assert(ourTeam != "");
		if ((worldModel->getLeftTeam() == ourTeam ) || (worldModel->getRightTeam()== ourTeam))
			cpc = new TrainerChangePlayerCommand(AT_ADVANCED_COACH, ourTeam, uniNum, getPlayerType(uniNum));
		else {
			cpc = new EmptyCommand(AT_ADVANCED_COACH);
			LOG << "Warning: Empty command sent as change command for trainer" << endl;
			LOG << "         Left team: " << worldModel->getLeftTeam() << " Right Team: " <<
			       worldModel->getRightTeam() << " OurTeam: " << ourTeam  << endl;
		}
	} else cpc = new ChangePlayerCommand(AT_ADVANCED_COACH, uniNum, getPlayerType(uniNum));
	return cpc;
}

void OurTypes::setOurTypes(void)
{
	int i;
	
	for (i = 0;i <= 10; i++)
		if (i < 11 && i != (GOALIE_UNIFORM_NUM - 1))
			setPlayerGraphs(i);
	
	graph->prepareMaximum();
	graph->solve();
	
	for (i = 0;i <= 10; i++)
		playerTypes[i] = (int)(graph->getAnswerRow(i) / 3);
}

int OurTypes::getPlayerType(int uniNum)
{
	return playerTypes[uniNum - 1];
}

void OurTypes::setPlayerGraphs(int uniNum)
{
	int i, j;
	
	for(i = 0; i <= 20; i++)
	{
		j = (int)(i / 3);
		graph->setWeight(uniNum, i, (int)getPlayerWeight(uniNum, j));
	}
}



void OurTypes::loadOurTypesRates(void)
{
	config.add("OurTypes");
	config["OurTypes"].setByFile("./Configs/OurTypesRates.conf");

	playerSpeedMaxRate.main = config["OurTypes"]["MainRates"]["PlayerSpeedMax"][0].asFloat();
	staminaIncMaxRate.main = config["OurTypes"]["MainRates"]["StaminaIncMax"][0].asFloat();
	playerDecayRate.main = config["OurTypes"]["MainRates"]["PlayerDecay"][0].asFloat();
	inertiaMomentRate.main = config["OurTypes"]["MainRates"]["InertiaMoment"][0].asFloat();
	dashPowerRateRate.main = config["OurTypes"]["MainRates"]["DashPowerRate"][0].asFloat();
	playerSizeRate.main = config["OurTypes"]["MainRates"]["PlayerSize"][0].asFloat();
	kickableMarginRate.main = config["OurTypes"]["MainRates"]["KickableMargin"][0].asFloat();
	kickRandRate.main = config["OurTypes"]["MainRates"]["KickRand"][0].asFloat();
	extraStaminaRate.main = config["OurTypes"]["MainRates"]["ExtraStamina"][0].asFloat();
	effortMaxRate.main = config["OurTypes"]["MainRates"]["EffortMax"][0].asFloat();
	effortMinRate.main = config["OurTypes"]["MainRates"]["EffortMin"][0].asFloat();

	playerSpeedMaxRate.postCB = config["OurTypes"]["PostRates"]["PlayerSpeedMax"][0].asFloat();
	staminaIncMaxRate.postCB = config["OurTypes"]["PostRates"]["StaminaIncMax"][0].asFloat();
	playerDecayRate.postCB = config["OurTypes"]["PostRates"]["PlayerDecay"][0].asFloat();
	inertiaMomentRate.postCB = config["OurTypes"]["PostRates"]["InertiaMoment"][0].asFloat();
	dashPowerRateRate.postCB = config["OurTypes"]["PostRates"]["DashPowerRate"][0].asFloat();
	playerSizeRate.postCB = config["OurTypes"]["PostRates"]["PlayerSize"][0].asFloat();
	kickableMarginRate.postCB = config["OurTypes"]["PostRates"]["KickableMargin"][0].asFloat();
	kickRandRate.postCB = config["OurTypes"]["PostRates"]["KickRand"][0].asFloat();
	extraStaminaRate.postCB = config["OurTypes"]["PostRates"]["ExtraStamina"][0].asFloat();
	effortMaxRate.postCB = config["OurTypes"]["PostRates"]["EffortMax"][0].asFloat();
	effortMinRate.postCB = config["OurTypes"]["PostRates"]["EffortMin"][0].asFloat();

	playerSpeedMaxRate.postWB = config["OurTypes"]["PostRates"]["PlayerSpeedMax"][1].asFloat();
	staminaIncMaxRate.postWB = config["OurTypes"]["PostRates"]["StaminaIncMax"][1].asFloat();
	playerDecayRate.postWB = config["OurTypes"]["PostRates"]["PlayerDecay"][1].asFloat();
	inertiaMomentRate.postWB = config["OurTypes"]["PostRates"]["InertiaMoment"][1].asFloat();
	dashPowerRateRate.postWB = config["OurTypes"]["PostRates"]["DashPowerRate"][1].asFloat();
	playerSizeRate.postWB = config["OurTypes"]["PostRates"]["PlayerSize"][1].asFloat();
	kickableMarginRate.postWB = config["OurTypes"]["PostRates"]["KickableMargin"][1].asFloat();
	kickRandRate.postWB = config["OurTypes"]["PostRates"]["KickRand"][1].asFloat();
	extraStaminaRate.postWB = config["OurTypes"]["PostRates"]["ExtraStamina"][1].asFloat();
	effortMaxRate.postWB = config["OurTypes"]["PostRates"]["EffortMax"][1].asFloat();
	effortMinRate.postWB = config["OurTypes"]["PostRates"]["EffortMin"][1].asFloat();

	playerSpeedMaxRate.postCM = config["OurTypes"]["PostRates"]["PlayerSpeedMax"][2].asFloat();
	staminaIncMaxRate.postCM = config["OurTypes"]["PostRates"]["StaminaIncMax"][2].asFloat();
	playerDecayRate.postCM = config["OurTypes"]["PostRates"]["PlayerDecay"][2].asFloat();
	inertiaMomentRate.postCM = config["OurTypes"]["PostRates"]["InertiaMoment"][2].asFloat();
	dashPowerRateRate.postCM = config["OurTypes"]["PostRates"]["DashPowerRate"][2].asFloat();
	playerSizeRate.postCM = config["OurTypes"]["PostRates"]["PlayerSize"][2].asFloat();
	kickableMarginRate.postCM = config["OurTypes"]["PostRates"]["KickableMargin"][2].asFloat();
	kickRandRate.postCM = config["OurTypes"]["PostRates"]["KickRand"][2].asFloat();
	extraStaminaRate.postCM = config["OurTypes"]["PostRates"]["ExtraStamina"][2].asFloat();
	effortMaxRate.postCM = config["OurTypes"]["PostRates"]["EffortMax"][2].asFloat();
	effortMinRate.postCM = config["OurTypes"]["PostRates"]["EffortMin"][2].asFloat();

	playerSpeedMaxRate.postWM = config["OurTypes"]["PostRates"]["PlayerSpeedMax"][3].asFloat();
	staminaIncMaxRate.postWM = config["OurTypes"]["PostRates"]["StaminaIncMax"][3].asFloat();
	playerDecayRate.postWM = config["OurTypes"]["PostRates"]["PlayerDecay"][3].asFloat();
	inertiaMomentRate.postWM = config["OurTypes"]["PostRates"]["InertiaMoment"][3].asFloat();
	dashPowerRateRate.postWM = config["OurTypes"]["PostRates"]["DashPowerRate"][3].asFloat();
	playerSizeRate.postWM = config["OurTypes"]["PostRates"]["PlayerSize"][3].asFloat();
	kickableMarginRate.postWM = config["OurTypes"]["PostRates"]["KickableMargin"][3].asFloat();
	kickRandRate.postWM = config["OurTypes"]["PostRates"]["KickRand"][3].asFloat();
	extraStaminaRate.postWM = config["OurTypes"]["PostRates"]["ExtraStamina"][3].asFloat();
	effortMaxRate.postWM = config["OurTypes"]["PostRates"]["EffortMax"][3].asFloat();
	effortMinRate.postWM = config["OurTypes"]["PostRates"]["EffortMin"][3].asFloat();

	playerSpeedMaxRate.postCF = config["OurTypes"]["PostRates"]["PlayerSpeedMax"][4].asFloat();
	staminaIncMaxRate.postCF = config["OurTypes"]["PostRates"]["StaminaIncMax"][4].asFloat();
	playerDecayRate.postCF = config["OurTypes"]["PostRates"]["PlayerDecay"][4].asFloat();
	inertiaMomentRate.postCF = config["OurTypes"]["PostRates"]["InertiaMoment"][4].asFloat();
	dashPowerRateRate.postCF = config["OurTypes"]["PostRates"]["DashPowerRate"][4].asFloat();
	playerSizeRate.postCF = config["OurTypes"]["PostRates"]["PlayerSize"][4].asFloat();
	kickableMarginRate.postCF = config["OurTypes"]["PostRates"]["KickableMargin"][4].asFloat();
	kickRandRate.postCF = config["OurTypes"]["PostRates"]["KickRand"][4].asFloat();
	extraStaminaRate.postCF = config["OurTypes"]["PostRates"]["ExtraStamina"][4].asFloat();
	effortMaxRate.postCF = config["OurTypes"]["PostRates"]["EffortMax"][4].asFloat();
	effortMinRate.postCF = config["OurTypes"]["PostRates"]["EffortMin"][4].asFloat();

	playerSpeedMaxRate.postWF = config["OurTypes"]["PostRates"]["PlayerSpeedMax"][5].asFloat();
	staminaIncMaxRate.postWF = config["OurTypes"]["PostRates"]["StaminaIncMax"][5].asFloat();
	playerDecayRate.postWF = config["OurTypes"]["PostRates"]["PlayerDecay"][5].asFloat();
	inertiaMomentRate.postWF = config["OurTypes"]["PostRates"]["InertiaMoment"][5].asFloat();
	dashPowerRateRate.postWF = config["OurTypes"]["PostRates"]["DashPowerRate"][5].asFloat();
	playerSizeRate.postWF = config["OurTypes"]["PostRates"]["PlayerSize"][5].asFloat();
	kickableMarginRate.postWF = config["OurTypes"]["PostRates"]["KickableMargin"][5].asFloat();
	kickRandRate.postWF = config["OurTypes"]["PostRates"]["KickRand"][5].asFloat();
	extraStaminaRate.postWF = config["OurTypes"]["PostRates"]["ExtraStamina"][5].asFloat();
	effortMaxRate.postWF = config["OurTypes"]["PostRates"]["EffortMax"][5].asFloat();
	effortMinRate.postWF = config["OurTypes"]["PostRates"]["EffortMin"][5].asFloat();
}

float OurTypes::getPlayerWeight(int uniNum, int playerType)
{
	float weight = 0;
	
	if (uniNum == 5 - 1)
	{
		if (playerType == 0)
			return 10000;
		else
			return -10000;
	}

	uniNum = getStandardUniNum(uniNum + 1);
	
	weight += (getPlayerSpeedMaxWeight(uniNum, playerType) * playerSpeedMaxRate.main);
	weight += (getStaminaIncMaxWeight(uniNum, playerType) * staminaIncMaxRate.main);
	weight += (getPlayerDecayWeight(uniNum, playerType) * playerDecayRate.main);
	weight += (getInertiaMomentWeight(uniNum, playerType) * inertiaMomentRate.main);
	weight += (getDashPowerRateWeight(uniNum, playerType) * dashPowerRateRate.main);
	weight += (getPlayerSizeWeight(uniNum, playerType) * playerSizeRate.main);
	weight += (getKickableMarginWeight(uniNum, playerType) * kickableMarginRate.main);
	weight += (getKickRandWeight(uniNum, playerType) * kickRandRate.main);
	weight += (getExtraStaminaWeight(uniNum, playerType) * extraStaminaRate.main);
	weight += (getEffortMaxWeight(uniNum, playerType) * effortMaxRate.main);
	weight += (getEffortMinWeight(uniNum, playerType) * effortMinRate.main);
	
	return weight;
}

int OurTypes::getStandardUniNum(int uniNum)
{
	switch (Player::uniNumToPostNum(uniNum))
	{
	case GOALIE_UNIFORM_NUM:
		assert(0);
	case 2:
		return 5;
	case 3:
		return 3;
	case 4:
		return 2;
	case 5:
		return 4;
	case 6:
		return 7;
	case 7:
		return 8;
	case 8:
		return 6;
	case 9:
		return 9;
	case 10:
		return 11;
	case 11:
		return 10;
	}

	assert(0);
	return 0;
}

float OurTypes::getPlayerSpeedMaxWeight(int uniNum, int playerType)
{
	//	Range : 1.0 - 1.2
	//	Type 0 value = 1.2
	float weight;
	float rate = 5;
	
	ReRateMode reRateMode = RRM_DIRECT;
	float value = worldModel->getPlayerType(playerType)["player_speed_max"].asFloat();
	float rangeFloor = 1.0;
	float rangeCeil = 1.2;
	
	weight = reRate(value, rangeFloor, rangeCeil, -100, 0, reRateMode);
	
	switch (uniNum)
	{
	case GOALIE_UNIFORM_NUM:
		assert(0);
	case 2:
	case 3:
		rate = playerSpeedMaxRate.postCB;
		break;
	case 4:
	case 5:
		rate = playerSpeedMaxRate.postWB;
		break;
	case 6:
		rate = playerSpeedMaxRate.postCM;
		break;
	case 7:
	case 8:
		rate = playerSpeedMaxRate.postWM;
		break;
	case 9:
		rate = playerSpeedMaxRate.postCF;
		break;
	case 10:
	case 11:
		rate = playerSpeedMaxRate.postWF;
		break;
	assert(0);
	}

	weight *= rate;

	return weight;
}

float OurTypes::getStaminaIncMaxWeight(int uniNum, int playerType)
{
	//	Range : 25.0 - 45.0
	//	Type 0 value = 45

	float weight;
	float rate = 5;

	ReRateMode reRateMode = RRM_DIRECT;
	float value = worldModel->getPlayerType(playerType)["stamina_inc_max"].asFloat();
	float rangeFloor = 25.0;
	float rangeCeil = 45.0;
	float badBorder = 30;
	
	if (uniNum >= 7 && uniNum <= 9)
		badBorder = 35;
	
	if (value <= badBorder)
		weight = reRate(value, rangeFloor, rangeCeil, -800, 0, reRateMode);
	else
		weight = reRate(value, rangeFloor, rangeCeil, -100, 0, reRateMode);

	switch (uniNum)
	{
	case GOALIE_UNIFORM_NUM:
		assert(0);
	case 2:
	case 3:
		rate = staminaIncMaxRate.postCB;
		break;
	case 4:
	case 5:
		rate = staminaIncMaxRate.postWB;
		break;
	case 6:
		rate = staminaIncMaxRate.postCM;
		break;
	case 7:
	case 8:
		rate = staminaIncMaxRate.postWM;
		break;
	case 9:
		rate = staminaIncMaxRate.postCF;
		break;
	case 10:
	case 11:
		rate = staminaIncMaxRate.postWF;
		break;
	assert(0);
	}

	weight *= rate;
	return weight;
}

float OurTypes::getPlayerDecayWeight(int uniNum, int playerType)
{
	//	Range : 0.4 - 0.6
	//	Type 0 value = 0.4

	float weight;
	float rate = 5;

	ReRateMode reRateMode = RRM_DIRECT;
	float value = worldModel->getPlayerType(playerType)["player_decay"].asFloat();
	float rangeFloor = 0.4;
	float rangeCeil = 0.6;
	float badBorder = 0.43;
	
	if (value <= badBorder)
		weight = reRate(value, rangeFloor, rangeCeil, -100, 0, reRateMode);
	else
		weight = reRate(value, rangeFloor, rangeCeil, 0, 100, reRateMode);

	switch (uniNum)
	{
	case GOALIE_UNIFORM_NUM:
		assert(0);
	case 2:
	case 3:
		rate = playerDecayRate.postCB;
		break;
	case 4:
	case 5:
		rate = playerDecayRate.postWB;
		break;