strategy.h

浙江大学 RoboCup3D 2006 源代码

/***************************************************************************
 *   Copyright (C) 2004 - 2006 by ZJUBase                                  *
 *                                National Lab of Industrial Control Tech. *
 *                                Zhejiang University, China               *
 *                                                                         *
 *   Achievements of ZJUBase in RoboCup Soccer 3D Simulation League:       *
 *    In RoboCup championship,                                             *
 *      - June 2006 - 3rd place in RoboCup 2006, Bremen, Germany (lost     *
 *        the semi-final with a coin toss)                                 *
 *      - July 2005 - 3rd place in RoboCup 2005, Osaka, Japan (share the   *
 *        3rd place with team Caspian)                                     *
 *    In RoboCup local events,                                             *
 *      - April 2006 - 2nd place in RoboCup Iran Open 2006, Tehran, Iran   *
 *        (lost the final with a coin toss)                                *
 *      - December 2005 - 2nd place in AI Games 2005, Isfahan, Iran        *
 *      - July 2005 - champion in China Robot Competition 2005, Changzhou, *
 *        China                                                            *
 *      - October 2004 - champion in China Soccer Robot Competition 2004,  *
 *        Guangzhou, China                                                 *

*                                                                         *
 *   Team members:                                                         *
 *    Currently the team leader is,                                        *
 *           Hao JIANG ([e-mail]; [e-mail])       *
 *    In the next season, the leader will be                               *
 *           Yifeng ZHANG ([e-mail])                        *
 *    ZJUBase 3D agent is created by                                       *
 *           Dijun LUO ([e-mail])                             *
 *    All the members who has ever contributed:                            *
 *           Jun JIANG                                                     *
 *           Xinfeng DU ([e-mail])                             *
 *           Yang ZHOU ([e-mail])                             *
 *           Zhipeng YANG                                                  *
 *           Xiang FAN                                                     *
 *                                                                         *
 *   Team Manager:                                                          *
 *      Ms. Rong XIONG ([e-mail])                            *
 *                                                                         *
 *   If you met any problems or you have something to discuss about        *
 *   ZJUBase. Please feel free to contact us through EMails given below.   *
 *                                                                         *
 *   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 STRATEGY_H
#define STRATEGY_H

#include <vector>
#include "soccertypes.h"
#include "Utils.h"
#include "ServerSettings.h"
#include <fstream>
using namespace std;

class Strategy
{
public:
	Strategy(void);
	~Strategy(void);

	void coefficientGhost(double length);
	void Init(ServerSettings* ss);
	Vector3 getFormationPosition();
	double GetShootProb(Angle &ang);
	string m_DebugMessage;
	Vector3 SBSPPosition(int num);

	/////////////////////OriginalFormation/////////////////
	double getGhostX(int num,double ballX);
	double getGhostY(int num,double ballX,double ballY);
	void getCoefficient(int num,double ballX,double ballY);
	double getX(int i, double ballX, double ballY);
	double getY(int i, double ballY, double ballX);
	void AddDebugMessage(const char *str, ...);

	//////////////////////PositionSet/////////////////////
	void getConsiderPassPoint(vector<Vector3>& points,Vector3 p_Center,Dist distance,int t_ang);
	Vector3 getBestPassPoint(Vector3 pos);
	Vector3 getBestRunPoint(Vector3 pos);
	Vector3 getAreaPoint(Vector3 point);
	double  EvaluateRunPoint(Vector3 point);
	double EvalHB(Vector3 point);
	double EvalOffense(Vector3 point);
	double Normal_School(double u,double a,double x);
	double Normal_School_2D(double u1,double u2,double a1,double a2,double x,double rou,double y);
	double EvalDist(Vector3 point,Vector3 goalpoint,double u,double a);
	Vector3 OffSide(Vector3 point,int num);

	/////////////////////////PositionControl
	Vector3 tempCP[50];
	Vector3 Y_CP[6];
	double  Y_weight[6];
	Vector3 getPosition(int player,double x_Ball,double y_Ball);
	double getYShift(double y_Ball);
};

extern Strategy strategy;

class ControlPoint
{
public:
	ControlPoint(){};
	~ControlPoint(){};
	Vector3 CP[15][50];
	int	CpNum[15];
	double weight[15][50];
	void  GetPositionCP();
};

class CBpline  
{
public:
	int Def_k;
	int num_points;
	float *T;

public:
	CBpline();
	virtual ~CBpline();
	Vector3 Qu(double u,int n,Vector3 *CP,double *weight);
	float N(double u,int i,int k);

private:
	void GetT(int n);
};

#endif