interceptplan.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: Sassan Haradji, Ahmad Boorghany
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <BasicDash.h>
#include <AdvancedAgent.h>
#include <InterceptPlan.h>
#include <Logger.h>
#include <cassert>

using namespace std;

InterceptPlan::InterceptPlan(const WorldModel *wm, Form &form,
		const Library &library): Plan("Intercept", wm, form, library),
		intercept(wm), dribbleIntercept(wm), finished(false), getVal(false)
{
}

InterceptPlan::~InterceptPlan()
{
}

void InterceptPlan::decide()
{
	LOG << "InterceptPlan::decide" << endl;

/*	form.headForm.tnMode = TNM_AUTO_PLAY_ON;
	if (wm->getBody().getDistance(wm->getBall()) < 7)
		form.headForm.tnMode = TNM_LOOK_CAREFULLY;
	if (wm->getBody().getDistance(wm->getBall()) < 14)
		form.headForm.tnMode = TNM_LOOK_NORMALLY;*/

	finished = true;
	if ((library.lastBodyCycleCommand->getCreator() == AT_DRIBBLE ||
		 library.lastBodyCycleCommand->getCreator() == AT_SRPDRIBBLE ||
		 library.lastBodyCycleCommand->getCreator() == AT_DRIBBLE_INTERCEPT) &&
		dribbleIntercept.getValue(library) == AD_ALWAYS_RUN_VALUE)
	{
		dribbleIntercept.execute(form, library);
		throw dribbleIntercept.getCommand();
	}
	else
	{
		if (!getVal || valSetCycle != wm->getCurCycle())
			value = intercept.getValue(library) - 20;
		valSetCycle = wm->getCurCycle();
		getVal = true;
		intercept.execute(form, library);
		throw intercept.getCommand();
	}

	LOG << "InterceptPlan Now Kill Program" << endl;
	assert(0);
}

double InterceptPlan::successRate()
{
	if (!getVal || valSetCycle != wm->getCurCycle())
		value = intercept.getValue(library);
	valSetCycle = wm->getCurCycle();
	getVal = true;
	if (value < -200) return 0;
	return value / 1000 + .2;
}

bool InterceptPlan::isFinished()
{
	if (/*library.gwSelection == WOBS_INTERCEPT && */!wm->isBallKickable())
		return finished;
	return true;
}