soccerscene.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 SOCCERSCENE_H
#define SOCCERSCENE_H
#include "SoccerAction.h"
#include "Situation.h"
#include "ServerSettings.h"
#include "Intercept.h"

class SoccerScene  
{
public:
	SoccerScene();
	virtual ~SoccerScene();

	virtual bool isValid();
	virtual void Execute();

	void reset();
	void addAction(SoccerAction a);
	void AddCommand(SoccerCommand cmd);
	void AddCommand(SoccerCommand cmd1,SoccerCommand cmd2);
	void AddCommandQueue(CommandQueue cmds);

	//==================
	int ivalue[10];
	double dvalue[10];
	Vector3 vvalue[10];

	//=====================
	bool valid;
	bool enoughReturn;
	static Situation *ST;
	static ServerSettings *SS;
	Intercept intercept;

	//==================
	bool EnoughReturn()	{ return enoughReturn;}
	static void Init(ServerSettings *ss,Situation *st)	{ SS = ss; ST = st;}
};

class SCENE_before_kick_off : public SoccerScene//
{	
public:
	bool isValid();
	void Execute();
	SCENE_before_kick_off();
	virtual ~SCENE_before_kick_off();
};

class SCENE_long_pass : public SoccerScene		//the pass that flying in the sky
{
public:	
	bool isValid();
	void Execute();
	SCENE_long_pass();
	virtual ~SCENE_long_pass();
};

class SCENE_short_pass : public SoccerScene		//the pass that on the ground
{
	public:
	bool isValid();
	void Execute();
	SCENE_short_pass();
	virtual ~SCENE_short_pass();
};

class SCENE_intercept : public SoccerScene
{
public:
	bool isValid();
	void Execute();
	SCENE_intercept();
	virtual ~SCENE_intercept();
};

class SCENE_dribbling : public SoccerScene
{
public:
	bool isValid();
	void Execute();
	SCENE_dribbling();
	virtual ~SCENE_dribbling();
};

class SCENE_corner_kick : public SoccerScene
{
public:
	bool isValid();
	void Execute();
	SCENE_corner_kick();
	virtual ~SCENE_corner_kick();
};

class SCENE_goal_kick : public SoccerScene
{
public:
	bool isValid();
	void Execute();
	SCENE_goal_kick();
	virtual ~SCENE_goal_kick();
};

class SCENE_throw_in : public SoccerScene
{
public:
	bool isValid();
	void Execute();
	SCENE_throw_in();
	virtual ~SCENE_throw_in();
};

class SCENE_shoot : public SoccerScene
{	
public:
	bool isValid();
	void Execute();
	SCENE_shoot();
	virtual ~SCENE_shoot();

private:
    bool isOneToOneToGoal();

private:
	bool getPassVel(double &power,double & theta);
	Angle getKickAngle();
	Vector3 getWhereToKickTo();
	double EvaluatePassPoint(Vector3 p);
    Vector3 getBestPassPoint();
    void getConsiderPassPoint(vector<Vector3>& points);
};

class SCENE_pass : public SoccerScene
{
public:
    bool isValid();
    void Execute();
    SCENE_pass();
    virtual ~SCENE_pass();

private:
    Vector3 getBestPassPoint();
	bool getPassVel(double &power,double & theta);
	Angle getKickAngle();
	Vector3 getWhereToKickTo();
	double EvaluatePassPoint(Vector3 p);
    void getConsiderPassPoint(vector<Vector3>& points);

private:
    Vector3 mLastPass;
};

class SCENE_normal : public SoccerScene
{	
public:
	bool isValid();
	void Execute();
	SCENE_normal ();
	virtual ~SCENE_normal ();
};

class SCENE_pass_center : public SoccerScene
{	
public:
	bool isValid();
	void Execute();
	SCENE_pass_center ();
	virtual ~SCENE_pass_center ();
};

#endif