dribble.h

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: Meisam Vosoughpour
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#ifndef __DRIBBLE_H
#define __DRIBBLE_H

#include <AdvancedAction.h>


#define DRIBBLE_BLOCK_MAX_WEIGHT 60
#define DRIBBLE_BLOCK_DIST_RATE 0.75
#define DRIBBLE_BLOCK_DIR_RATE 0.25

class Dribble : public AdvancedAction
{
protected:	
	void setDribbleArgumentsByOpponent();

	void setAngleWeight(int targetCount);
	void setCraudWeight(int targetCount);
	void setTargetWeight(int targetCount);
	void setDribbleTarget();
	void setOpponentInWeight(float senceArea);
	
	float isOpponent;	

	int opponentInSence;

	int targetNums;
	float targetAngles[40];
	float targetWeights[40];
	float cautionLength;
	float angleWeightRate;
	float craudWeightRate;

	void setDribblePoints();
	int bestDribblePoint();
	bool checkDribbleTarget(int dribbleCount);
	void setPathWithOpponentInSence(int dribbleCount,int opponentInSence);
	Point setByPointInformation(float pointBodyAngle, float cautionDistance);
	void setDribbleTarget(int dribbleCount);

	float getInlineDribbleWeight(int dribbleCount, float senceArea);
	float getBlockedWeight();
	float getBodyCrossWeight();
	float getPlayerBlockWeight(const Player &player);

	bool ballInOppKickable();

	Command *dribbleCommand;

	Point dribbleTargets[11];
	Point dribblePoints[12];
	Point virtualDribblePoints[12];
	Point dribblePoint;

	Ball checkTargetBall;
	Body checkTargetBody;

	Point dribbleTarget;
	Point idealDribbleTarget;	

	float dribbleWeights[12];
	float kickPower[12];
	int virtualWeight[12];
	float angle[12];
	float noise1[12];
	float noise2[12];
	float dashPower[12];
	float maxDist[12];
	int cycleNums[12];
	float kickableNoise[12];
	float angleNoise[12];

public:
	Dribble(const WorldModel *worldModel);
	virtual ~Dribble();

	virtual void execute(Form &form, const Library &library);
	virtual float getValue(const Library &library);
};

class DribblePath
{
protected :
	int bestDribbleTarget;
	
	void setAngleWeight(int targetCount);
	void setCraudWeight(int targetCount);
	void setTargetWeight(int targetCount);
	void setDribbleTarget();
	
	float isOpponent;	
	Point beginPoint;
	Point dribbleTarget;
	
	int targetNums;
	float targetAngles[40];
	float targetWeights[40];
	float cautionLength;
	float angleWeightRate;
	float xRate;
	float craudWeightRate;

	const WorldModel *worldModel;
	
public :
	DribblePath(const WorldModel *worldModel);
	void setDefaultParams();
	void setPathParams(int targetNumsArg, float cautionLengthArg,
					float angleWeightRateArg, float craudWeightRateArg,
					float xRateArg);

	void setBeginPoint(Point beginPointArg);
	float getBestTargetWeight();
	float getTargetWeight(int targetCount);
	float getBestTargetDir();

};

#endif // __DRIBBLE_H