📄 formation.h
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/* formation.h * CMUnited-97 (soccer client for Robocup-97) * Peter Stone <pstone@cs.cmu.edu> * Computer Science Department * Carnegie Mellon University * Copyright (C) 1997 Peter Stone * * CMUnited-97 was created by Peter Stone and Manuela Veloso * * You may copy and distribute this program freely as long as you retain this notice. * If you make any changes or have any comments we would appreciate a message. */#ifndef _FORMATION_H#define _FORMATION_H#include "position.h"/*************************************************************************//************************ FORMATION DEFINITIONS **************************//*************************************************************************//************************ 4-3-3 Formation ********************************/#define f433_FORMATION 0#define f433_GOALIE 0#define f433_SWEEPER (f433_GOALIE +1)#define f433_RIGHT_DEFENSE (f433_SWEEPER +1)#define f433_CENTER_DEFENSE (f433_RIGHT_DEFENSE +1)#define f433_LEFT_DEFENSE (f433_CENTER_DEFENSE +1)#define f433_RIGHT_MIDFIELD (f433_LEFT_DEFENSE +1)#define f433_CENTER_MIDFIELD (f433_RIGHT_MIDFIELD +1) #define f433_LEFT_MIDFIELD (f433_CENTER_MIDFIELD+1) #define f433_RIGHT_WING (f433_LEFT_MIDFIELD +1) #define f433_CENTER_FORWARD (f433_RIGHT_WING +1) #define f433_LEFT_WING (f433_CENTER_FORWARD +1) /************************ 4-4-2 Formation ********************************/#define f442_FORMATION (f433_FORMATION +1)#define f442_GOALIE 0#define f442_SWEEPER (f442_GOALIE +1)#define f442_RIGHT_DEFENSE (f442_SWEEPER +1)#define f442_CENTER_DEFENSE (f442_RIGHT_DEFENSE +1)#define f442_LEFT_DEFENSE (f442_CENTER_DEFENSE +1)#define f442_RIGHT_MIDFIELD (f442_LEFT_DEFENSE +1)#define f442_DEFENSIVE_CENTER_MIDFIELD (f442_RIGHT_MIDFIELD +1) #define f442_OFFENSIVE_CENTER_MIDFIELD (f442_DEFENSIVE_CENTER_MIDFIELD +1) #define f442_LEFT_MIDFIELD (f442_OFFENSIVE_CENTER_MIDFIELD+1) #define f442_RIGHT_WING (f442_LEFT_MIDFIELD +1) #define f442_LEFT_WING (f442_RIGHT_WING +1) /************************ 3-5-2 Formation ********************************/#define f352_FORMATION (f442_FORMATION + 1)#define f352_GOALIE 0#define f352_SWEEPER (f352_GOALIE +1)#define f352_RIGHT_DEFENSE (f352_SWEEPER +1)#define f352_LEFT_DEFENSE (f352_RIGHT_DEFENSE +1)#define f352_RIGHT_OUTSIDE_MIDFIELD (f352_LEFT_DEFENSE +1)#define f352_RIGHT_INSIDE_MIDFIELD (f352_RIGHT_OUTSIDE_MIDFIELD +1)#define f352_CENTER_MIDFIELD (f352_RIGHT_INSIDE_MIDFIELD +1) #define f352_LEFT_INSIDE_MIDFIELD (f352_CENTER_MIDFIELD+1) #define f352_LEFT_OUTSIDE_MIDFIELD (f352_LEFT_INSIDE_MIDFIELD+1) #define f352_RIGHT_WING (f352_LEFT_OUTSIDE_MIDFIELD +1) #define f352_LEFT_WING (f352_RIGHT_WING +1) /************************ 7-2 Formation ********************************/#define f72_FORMATION (f352_FORMATION + 1)#define f72_RIGHT_GOALIE 0#define f72_LEFT_GOALIE (f72_RIGHT_GOALIE +1)#define f72_RIGHT_DEFENSE (f72_LEFT_GOALIE +1)#define f72_CENTER_DEFENSE (f72_RIGHT_DEFENSE +1)#define f72_LEFT_DEFENSE (f72_CENTER_DEFENSE +1)#define f72_RIGHT_OUTSIDE_MIDFIELD (f72_LEFT_DEFENSE +1)#define f72_RIGHT_INSIDE_MIDFIELD (f72_RIGHT_OUTSIDE_MIDFIELD +1)#define f72_LEFT_INSIDE_MIDFIELD (f72_RIGHT_INSIDE_MIDFIELD +1) #define f72_LEFT_OUTSIDE_MIDFIELD (f72_LEFT_INSIDE_MIDFIELD+1) #define f72_RIGHT_WING (f72_LEFT_OUTSIDE_MIDFIELD +1) #define f72_LEFT_WING (f72_RIGHT_WING +1) /************************ 3-3-4 Formation ********************************/#define f334_FORMATION (f72_FORMATION + 1)#define f334_GOALIE 0#define f334_SWEEPER (f334_GOALIE +1)#define f334_RIGHT_DEFENSE (f334_SWEEPER +1)#define f334_LEFT_DEFENSE (f334_RIGHT_DEFENSE +1)#define f334_RIGHT_MIDFIELD (f334_LEFT_DEFENSE +1)#define f334_CENTER_MIDFIELD (f334_RIGHT_MIDFIELD +1) #define f334_LEFT_MIDFIELD (f334_CENTER_MIDFIELD+1) #define f334_RIGHT_WING (f334_LEFT_MIDFIELD +1) #define f334_RIGHT_INSIDE_FORWARD (f334_RIGHT_WING +1) #define f334_LEFT_INSIDE_FORWARD (f334_RIGHT_INSIDE_FORWARD +1) #define f334_LEFT_WING (f334_LEFT_INSIDE_FORWARD +1) /************************ 2-4-4 Formation ********************************/#define f244_FORMATION (f334_FORMATION + 1)#define f244_GOALIE 0#define f244_RIGHT_DEFENSE (f244_GOALIE +1)#define f244_LEFT_DEFENSE (f244_RIGHT_DEFENSE +1)#define f244_RIGHT_MIDFIELD (f244_LEFT_DEFENSE +1)#define f244_DEFENSIVE_CENTER_MIDFIELD (f244_RIGHT_MIDFIELD +1) #define f244_OFFENSIVE_CENTER_MIDFIELD (f244_DEFENSIVE_CENTER_MIDFIELD+1) #define f244_LEFT_MIDFIELD (f244_OFFENSIVE_CENTER_MIDFIELD+1) #define f244_RIGHT_WING (f244_LEFT_MIDFIELD +1) #define f244_RIGHT_INSIDE_FORWARD (f244_RIGHT_WING +1) #define f244_LEFT_INSIDE_FORWARD (f244_RIGHT_INSIDE_FORWARD +1) #define f244_LEFT_WING (f244_LEFT_INSIDE_FORWARD +1) /************************ 4-3-2 Formation ********************************/#define f432_FORMATION (f244_FORMATION +1)#define f432_RIGHT_GOALIE 0#define f432_LEFT_GOALIE (f432_RIGHT_GOALIE +1)#define f432_SWEEPER (f432_LEFT_GOALIE +1)#define f432_RIGHT_DEFENSE (f432_SWEEPER +1)#define f432_CENTER_DEFENSE (f432_RIGHT_DEFENSE +1)#define f432_LEFT_DEFENSE (f432_CENTER_DEFENSE +1)#define f432_RIGHT_MIDFIELD (f432_LEFT_DEFENSE +1)#define f432_CENTER_MIDFIELD (f432_RIGHT_MIDFIELD +1) #define f432_LEFT_MIDFIELD (f432_CENTER_MIDFIELD+1) #define f432_RIGHT_WING (f432_LEFT_MIDFIELD +1) #define f432_LEFT_WING (f432_RIGHT_WING +1) /************************ RIGHT Formation ********************************/#define fRT_FORMATION (f432_FORMATION +1)#define fRT_GOALIE 0#define fRT_INSIDE_FULLBACK (fRT_GOALIE +1)#define fRT_OUTSIDE_FULLBACK (fRT_INSIDE_FULLBACK +1)#define fRT_INSIDE_QTRBACK (fRT_OUTSIDE_FULLBACK+1)#define fRT_OUTSIDE_QTRBACK (fRT_INSIDE_QTRBACK +1)#define fRT_INSIDE_HALFBACK (fRT_OUTSIDE_QTRBACK +1)#define fRT_OUTSIDE_HALFBACK (fRT_INSIDE_HALFBACK +1)#define fRT_INSIDE_3QTRBACK (fRT_OUTSIDE_HALFBACK+1)#define fRT_OUTSIDE_3QTRBACK (fRT_INSIDE_3QTRBACK +1) #define fRT_INSIDE_FORWARD (fRT_OUTSIDE_3QTRBACK+1) #define fRT_OUTSIDE_FORWARD (fRT_INSIDE_FORWARD +1) /************************ LEFT Formation ********************************/#define fLT_FORMATION (fRT_FORMATION +1)#define fLT_GOALIE 0#define fLT_INSIDE_FULLBACK (fLT_GOALIE +1)#define fLT_OUTSIDE_FULLBACK (fLT_INSIDE_FULLBACK +1)#define fLT_INSIDE_QTRBACK (fLT_OUTSIDE_FULLBACK+1)#define fLT_OUTSIDE_QTRBACK (fLT_INSIDE_QTRBACK +1)#define fLT_INSIDE_HALFBACK (fLT_OUTSIDE_QTRBACK +1)#define fLT_OUTSIDE_HALFBACK (fLT_INSIDE_HALFBACK +1)#define fLT_INSIDE_3QTRBACK (fLT_OUTSIDE_HALFBACK+1)#define fLT_OUTSIDE_3QTRBACK (fLT_INSIDE_3QTRBACK +1) #define fLT_INSIDE_FORWARD (fLT_OUTSIDE_3QTRBACK+1) #define fLT_OUTSIDE_FORWARD (fLT_INSIDE_FORWARD +1) /*************************************************************************/#define NUM_FORMATIONS fLT_FORMATION/*************************************************************************//************************ CLASS DEFINITIONS ******************************//*************************************************************************//************************ RECTANGLE CLASS DEFINITION *********************/class Rectangle {public: void DefineRectangle(float x,float y,float w,float h); void DefineRectangleFromTLCorner(float x,float y,float w,float h); inline float TopY() { return centerY+height/2; } inline float BottomY() { return centerY-height/2; } inline float RightX() { return centerX+width/2; } inline float LeftX() { return centerX-width/2; } inline float Width() { return width; } /* X range */ inline float Height() { return height; } /* Y range */ float DistanceToEdge(float x, float y); int IsWithin (float x, float y); void AdjustToWithin(float *x, float *y); void Print(); private: float centerX; /* Coordinates of the center */ float centerY; float width; float height;};/********************** TEAMPOSITION CLASS DEFINITION *********************//* Types and sides */#define GOALTENDER 1#define DEFENDER (GOALTENDER + 1)#define MIDFIELDER (DEFENDER + 1)#define FORWARD (MIDFIELDER + 1)#define LEFT 1#define CENTER 0#define RIGHT (-LEFT)/* Use for determining types and sides of positions */#define ROUGH_GOALTENDERX -52#define ROUGH_DEFENDERX -35#define ROUGH_MIDFIELDERX 0#define ROUGH_FORWARDX 30#define ROUGH_LEFTY 25#define ROUGH_CENTERY 0#define ROUGH_RIGHTY -25class TeamPosition {public: TeamPosition(); ~TeamPosition(); void SetHome(float x, float y, float buf); void SetHomeRange(float width, float height); void SetMaxRange (float width, float height); void PrintHomeRange(); void PrintMaxRange(); inline float GetHomeX() { return HomeX; } inline float GetHomeY() { return HomeY; } inline float GetHomeBuffer() { return HomeBuffer; } inline Rectangle *GetHomeRange() { return HomeRange; } inline Rectangle *GetMaxRange() { return MaxRange; } inline void SetMaxActiveDistance(float x) { MaxActiveDistance = x; } inline void SetMinInactiveDistance(float x){ MinInactiveDistance = x; }⌨️ 快捷键说明
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