decision.h

RoboCup 3D 仿真组清华大学2005的源代码

/***************************************************************************
 *   Copyright (C) 2005 by Rujia Liu                                       *
 *   [e-mail]                                                  *
 *                                                                         *
 *   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; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   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 General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
#ifndef DECISION_H
#define DECISION_H
#include <zeitgeist/leaf.h>
#include "formation.h"
#include "logserver.h"

class Decision{
public:
    Decision();
    ~Decision();

    void Think();    
    LogServer log;
    int status; // state used by kickin, goalkick, cornerkick. will be reset in playon mode

protected:    
    int mynum;
    TTeamIndex myteam;
public:    
    // 18 playmodes (including unknown one)
    void BehaveBeforeKickOff(); //1
    void BehaveMyKickOff(); //2
    void BehaveTheirKickOff(); //3   
    void BehavePlayOn(); //4
    void BehaveMyKickIn(); //5
    void BehaveTheirKickIn(); //6   
    void BehaveMyCornerKick(); //7
    void BehaveTheirCornerKick(); //8
    void BehaveMyGoalKick(); //9
    void BehaveTheirGoalKick(); //10
    void BehaveMyOffside(); //11
    void BehaveTheirOffside();  //12 
    void BehaveGameOver(); //13
    void BehaveMyGoal(); //14
    void BehaveTheirGoal(); //15
    void BehaveMyFreeKick(); //16
    void BehaveTheirFreeKick(); //17
    
    // decision support
    float GetPassAngle();
    int GetBestPassTeammate();
    
    // high-level decision
    void Position();
    void Mark();
    
    float GetDribblePriority(float& angle);
    float GetPassPriority(float& dist);
    float GetShootPriority();
};

#endif