kick.h

RoboCup 2D 仿真组冠军源代码之1998年冠军队——CMUnited98源代码

/* -*- Mode: C++ -*- */

/* kick.h
 * CMUnited98 (soccer client for Robocup98)
 * Peter Stone <[e-mail]>
 * Computer Science Department
 * Carnegie Mellon University
 * Copyright (C) 1998 Peter Stone
 *
 * CMUnited-98 was created by Peter Stone, Manuela Veloso, and Patrick Riley
 *
 * 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.
 */

/* kick.C contains functions for kicking the ball
   Created by Patrick Riley
 */


#ifndef _KICK_H_
#define _KICK_H_

#include "MemAction.h"
#include "client.h"

/* header file for kick.C */
/*
#define Debug(x) printf(x) 
#define Debug2(x,y) printf(x,y) 
#define Debug3(x,y,z) printf(x,y,z) 
#define Debug4(w,x,y,z) printf(w,x,y,z) 
*/



void PatsTest_static();
void PatsTest_turn(void);
void PatsTest_kick(void);
void PatsTest_kick2(void);
void PatsTest_conv(void);

int DoTurnKickCommand(TurnKickCommand kickcom);


/* says whether one striaght kick will get the ball to angle dir,
   distance CP_opt_ctrl_dist for current spot */
int is_straight_kick(float dir, float EndDist, float closeMarg);

TurnKickCommand dokick(float ddir, float ddist, float distFactor=1.0,
		       bool* pCanKickToTraj = NULL); 

TurnDir RotToAvoidOpponent(float abs_dir);
TurnDir RotClosest(float abs_dir);

//relative angle!
KickToRes turnball_kick(AngleDeg target_dir, TurnDir rotate, Bool StopBall,
			TurnKickCommand* pCom,
			float EndDist, float closeMarg, float kickFac);
inline
KickToRes turnball_kick(AngleDeg target_dir, TurnDir rotate, Bool StopBall,
			TurnKickCommand* pCom)
{ return turnball_kick(target_dir, rotate, StopBall, pCom,
		       Mem->CP_opt_ctrl_dist,
		       Mem->CP_closest_margin, Mem->CP_dokick_factor); }
  


//relative angle!
KickToRes TurnballTo(AngleDeg target_dir, TurnDir rotate = TURN_AVOID);

#ifdef NOT_USED
int kick_hard_straight(float dir, int step);

int kick_hard_turning(float dir, TurnDir rot, int step);
#endif

TurnDir KickRotationDirectionAbs(AngleDeg abs_ang, TurnDir rot = TURN_AVOID);
inline TurnDir KickRotationDirection(AngleDeg rel_ang, TurnDir rot = TURN_AVOID)
{ return (rel_ang + Mem->MyAng(), rot); }

TurnKickCommand kick_hard_moderate(AngleDeg abs_dir, float targ_vel);

//int kick_hard_2step(float abs_dir, TurnDir rot, int step, TurnKickCommand* pCom);

int smart_kick_hard_abs(float abs_dir, KickMode mode, float targ_vel,
			TurnDir rot = TURN_AVOID);
inline int smart_kick_hard_abs(float abs_dir, KickMode mode,
			       TurnDir rot = TURN_AVOID)
{
  return smart_kick_hard_abs(abs_dir, mode,
			     2*Mem->SP_ball_speed_max, rot);  
}

inline int smart_kick_hard(float rel_dir, KickMode mode, float targ_vel,
			   TurnDir rot = TURN_AVOID)
{
  return smart_kick_hard_abs(rel_dir + Mem->MyAng(), mode, targ_vel, rot);
}
inline int smart_kick_hard(float rel_dir, KickMode mode,
			   TurnDir rot = TURN_AVOID)
{
  return smart_kick_hard_abs(rel_dir + Mem->MyAng(),
			     mode, 2*Mem->SP_ball_speed_max, rot);
}


/* takes a point and aims to get ball moving at targ_vel at that point
   uses the quickest mode that will get to that speed */
int smart_pass(Vector pt, float targ_vel_at_pt = 1.0, KickMode mode = KM_Moderate, TurnDir rot = TURN_AVOID);


Bool go_to_static_ball(float kick_ang);
inline Bool go_to_static_ball(Vector pt)
{ return go_to_static_ball( (pt - Mem->BallAbsolutePosition()).dir()); }


  



#endif