withballplayondecision.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: Ahmad Boorghany
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 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>

#include <AdvancedAgent.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):
        BodyDecision(worldModel)
{
    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()
{
}

void WithBallPlayOnDecision::decide(int quickLevel, Form &form, const Library &library)
{
    loadWeights(quickLevel);

    form.headForm.tnMode = TNM_LOOK_CAREFULLY;
	
//	dynamic_cast<Shoot *>(advancedActions[SHOOT_NUM])->
//			giveLastDecide(lastDecide);

    BodyDecision::decide(quickLevel, form, library);
	lastWithBallDecide = command->getCreator();
}

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");
}

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