pass.cpp

RoboCup 2D 仿真组老牌强队Mersad 2005的完整源代码

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

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

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

	// calculating statusOppDist weight and statusOppDir weight
	float statusOppDistValue = interCalc.getNearestOppToFastestDist();
	float statusOppDirValue = interCalc.getNearestOppToFastestDir();

	statusOppDistValue += 2.1;

	if (logLevel >= 2)
		LOG << "statusOppDistValue: " << statusOppDistValue << endl
			<< "statusOppDirValue: " << statusOppDirValue << endl
			<< "statusOpp(Dist,Dir)Weight:";

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

		statusOppDirWeight[i] = reRate(statusOppDirValue,
									   factors[i]->statusOppDir.minValue,
									   factors[i]->statusOppDir.maxValue,
									   factors[i]->statusOppDir.minWeight,
									   factors[i]->statusOppDir.maxWeight,
									   RRM_DIRECT);

		if (logLevel >= 2)
			LOG << " " << Point(statusOppDistWeight[i], statusOppDirWeight[i]);
	}

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

	// calculating breakOffside weight
	float breakOffsideValue = checkInterPlayer.getInterPoint().x -
		worldModel->getOppOffsideLine();

	if (logLevel >= 2)
		LOG << "breakOffsideValue: " << breakOffsideValue << endl
			<< "breakOffsideWeight:";

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

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

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

	// calculating passedOppNum weight
	float passedOppNumValue = interCalc.getPassedOppPlayers();

	if (logLevel >= 2)
		LOG << "passedOppNumValue: " << passedOppNumValue << endl
			<< "passedOppNumWeight:";

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

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

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

	// 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];
	}