actionsystem.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 ACTIONSYSTEM_H
#define ACTIONSYSTEM_H

#include "Global.h"
#include "SoccerCommand.h"
#include "SoccerAction.h"
#include "ServerSettings.h"
#include "Situation.h"
#include "Intercept.h"

class ActionSystem  
{
public:
	ActionSystem();
	ActionSystem(const ServerSettings& ss);
	void Init(ServerSettings *ss,Situation *st);
	virtual ~ActionSystem();

	void interceptFastest(CommandQueue& cmds,Vector3 target);
	void interceptForStopBall(CommandQueue& cmds);
	void interceptForCatchBall(CommandQueue &cmds);
	void dribbleToTarget(CommandQueue& cmds,Vector3 target);
	void dribbleForward(CommandQueue& cmds);
	void runTo(CommandQueue& cmds,Vector3 dest,Angle ang_to_kick);
	void runTo(CommandQueue& cmds,Vector3 dest);
	void StopBall(CommandQueue& cmds);
	void doWhenBeforeKickoff(CommandQueue& cmds);
	void positioningKickoff(CommandQueue& cmds);

	void revolve(CommandQueue& cmds);//////////yzp0608

	void say(double n);
	void say(double *n, int sizeofI);
	void say(double (*b)[3], double (*n)[3], int sizeofB, int sizeofI);
	void parseSayMsg(double n, char *mymsg);
	void parseSayMsg(double *n, int sizeofI, char *mymsg);
	void parseSayMsg(double (*n)[3], int sizeofI, char *mymsg);
	void parseSayMsg(double (*b)[3], char *mymsg);

	static void AddCommand(SoccerCommand cmd);
	static void AddCommand(SoccerCommand cmd1,SoccerCommand cmd2);
	static void AddCommandQueue(CommandQueue cmds);
	static string GenerateCommandString(int index);

	Intercept intercept;
	static ServerSettings* SS;
	static Situation *ST;
};

extern ActionSystem as;

#endif