basicplayer_8c-source.html

来自「仿真人工智能是指用人工的方法和技术」· HTML 代码 · 共 526 行 · 第 1/5 页

00729     ang     = <a class="code" href="classVecPosition.html#d1">VecPosition::normalizeAngle</a>( ang - angBody );
00730     <font class="keywordflow">if</font> (fabs( ang ) &gt; <a class="code" href="classBasicPlayer.html#n3">PS</a>-&gt;<a class="code" href="classPlayerSettings.html#a9">getPlayerWhenToTurnAngle</a>() ) <font class="comment">// if we want to turn</font>
00731     {
00732       soc = <a class="code" href="classBasicPlayer.html#b1">turnBodyToPoint</a>( posBall, 2 );             <font class="comment">// perform turn</font>
00733       <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a103">predictAgentStateAfterCommand</a>(soc,&amp;posPred,&amp;velMe,&amp;angBody,&amp;ang,&amp;sta );
00734       dPower=<a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a151">getPowerForDash</a>(posBall-posPred,angBody,velMe,sta.<a class="code" href="classStamina.html#a4">getEffort</a>());
00735       <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a105">predictStateAfterDash</a>( dPower, &amp;posPred, &amp;velMe, &amp;sta, angBody);
00736       <font class="keywordflow">if</font>( posPred.<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>(posBall) &lt; <a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a48">getCatchableAreaL</a>() )
00737         <font class="keywordflow">return</font> soc;
00738     }
00739   }
00740 
00741   <font class="comment">// did not succeed</font>
00742   <font class="keywordflow">return</font> <a class="code" href="classSoccerCommand.html">SoccerCommand</a>( <a class="code" href="SoccerTypes_8h.html#a247a180">CMD_ILLEGAL</a> );
00743 }
00744 
<a name="l00775"></a><a class="code" href="classBasicPlayer.html#b17">00775</a> <a class="code" href="classSoccerCommand.html">SoccerCommand</a> <a class="code" href="classBasicPlayer.html#b17">BasicPlayer::kickTo</a>( <a class="code" href="classVecPosition.html">VecPosition</a> posTarget, <font class="keywordtype">double</font> dEndSpeed )
00776 {
00777   <a class="code" href="classVecPosition.html">VecPosition</a> posBall = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a47">getBallPos</a>();
00778   <a class="code" href="classVecPosition.html">VecPosition</a> velBall = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a53">getGlobalVelocity</a>(<a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a>);
00779   <a class="code" href="classVecPosition.html">VecPosition</a> posTraj = posTarget - posBall;
00780   <a class="code" href="classVecPosition.html">VecPosition</a> velDes  = <a class="code" href="classVecPosition.html">VecPosition</a>(
00781                <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a145">getKickSpeedToTravel</a>( posTraj.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>(), dEndSpeed ),
00782                posTraj.<a class="code" href="classVecPosition.html#a33">getDirection</a>(),
00783                POLAR                                                        );
00784   <font class="keywordtype">double</font>      dPower;
00785   <a class="code" href="Geometry_8h.html#a2">AngDeg</a>      angActual;
00786 
00787   Log.log( 101, <font class="stringliteral">"glob pos ball (%f,%f), glob pos agent (%f,%f), ang %f %f"</font> , 
00788           <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a47">getBallPos</a>().<a class="code" href="classVecPosition.html#a26">getX</a>(), <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a47">getBallPos</a>().<a class="code" href="classVecPosition.html#a28">getY</a>(),
00789           <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a43">getAgentGlobalPosition</a>().<a class="code" href="classVecPosition.html#a26">getX</a>(),
00790           <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a43">getAgentGlobalPosition</a>().<a class="code" href="classVecPosition.html#a28">getY</a>(),          
00791           <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a38">getAgentGlobalBodyAngle</a>(),
00792           <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a37">getAgentGlobalNeckAngle</a>() );
00793   Log.log( 101, <font class="stringliteral">"rel pos body (%f,%f), velocity ball: (%f,%f)"</font> , 
00794           <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a54">getRelativeDistance</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a> ),
00795           <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a56">getRelativeAngle</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a>, <font class="keyword">true</font> ),
00796            velBall.<a class="code" href="classVecPosition.html#a26">getX</a>(), velBall.<a class="code" href="classVecPosition.html#a28">getY</a>() );
00797            
00798   <font class="keywordflow">if</font>( velDes.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>() &gt; <a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a66">getBallSpeedMax</a>() ) <font class="comment">// can never reach point</font>
00799   {
00800            dPower     = <a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a94">getMaxPower</a>();
00801     <font class="keywordtype">double</font> dSpeed     = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a143">getActualKickPowerRate</a>() * dPower;
00802     <font class="keywordtype">double</font> tmp        = velBall.<a class="code" href="classVecPosition.html#a47">rotate</a>(-velDes.<a class="code" href="classVecPosition.html#a33">getDirection</a>()).<a class="code" href="classVecPosition.html#a28">getY</a>();
00803            angActual  = velDes.<a class="code" href="classVecPosition.html#a33">getDirection</a>() - <a class="code" href="Geometry_8h.html#a11">asinDeg</a>( tmp / dSpeed );
00804     <font class="keywordtype">double</font> dSpeedPred = ( <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a53">getGlobalVelocity</a>(<a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a>)+
00805                          VecPosition(dSpeed,angActual, POLAR )).getMagnitude();
00806 
00807     <font class="comment">// but ball acceleration in right direction is very high</font>
00808     <font class="keywordflow">if</font>( dSpeedPred &gt; <a class="code" href="classBasicPlayer.html#n3">PS</a>-&gt;<a class="code" href="classPlayerSettings.html#a11">getPlayerWhenToKick</a>()*<a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a68">getBallAccelMax</a>() )
00809     {
00810       Log.log( 101, <font class="stringliteral">"point too far, but can acccelerate ball good to %f k=%f,%f"</font>,
00811                      dSpeedPred, dSpeed, tmp );
00812       <font class="keywordflow">return</font> <a class="code" href="classBasicPlayer.html#b8">accelerateBallToVelocity</a>( velDes );    <font class="comment">// shoot nevertheless</font>
00813     }
00814     <font class="keywordflow">else</font> <font class="keywordflow">if</font>( <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a143">getActualKickPowerRate</a>() &gt;
00815         <a class="code" href="classBasicPlayer.html#n3">PS</a>-&gt;<a class="code" href="classPlayerSettings.html#a11">getPlayerWhenToKick</a>() * <a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a82">getKickPowerRate</a>() )
00816     {
00817       Log.log( 101, <font class="stringliteral">"point too far, freeze ball"</font> ); <font class="comment">// ball well-positioned</font>
00818       <font class="keywordflow">return</font> <a class="code" href="classBasicPlayer.html#b6">freezeBall</a>();                          <font class="comment">// freeze ball</font>
00819     }
00820     <font class="keywordflow">else</font>
00821     {
00822       Log.log( 101, <font class="stringliteral">"point too far, reposition ball (k_r = %f)"</font>,
00823       <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a143">getActualKickPowerRate</a>()/(<a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a82">getKickPowerRate</a>()) );
00824       <font class="keywordflow">return</font> <a class="code" href="classBasicPlayer.html#b7">kickBallCloseToBody</a>( 0 );            <font class="comment">// else position ball better</font>
00825     }
00826   }
00827   <font class="keywordflow">else</font>                                            <font class="comment">// can reach point</font>
00828   {
00829     VecPosition accBallDes = velDes - velBall;
00830     dPower = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a144">getKickPowerForSpeed</a>(accBallDes.<a class="code" href="classVecPosition.html#a32">getMagnitude</a>());
00831     <font class="keywordflow">if</font>( dPower &lt;= 0.95*<a class="code" href="classBasicPlayer.html#n2">SS</a>-&gt;<a class="code" href="classServerSettings.html#a94">getMaxPower</a>() )        <font class="comment">// with current ball speed</font>
00832     {                               <font class="comment">// 0.95 since cannot get ball fully perfect</font>
00833       Log.log( 101, <font class="stringliteral">"point good and can reach point"</font> );
00834       <font class="keywordflow">return</font> <a class="code" href="classBasicPlayer.html#b8">accelerateBallToVelocity</a>( velDes );  <font class="comment">// perform shooting action</font>
00835     }
00836     <font class="keywordflow">else</font>
00837     {
00838       Log.log( 101, <font class="stringliteral">"point good, but reposition ball since need %f"</font>,dPower );
00839       <font class="keywordflow">return</font> <a class="code" href="classBasicPlayer.html#b7">kickBallCloseToBody</a>( 0 );            <font class="comment">// else position ball better</font>
00840     }
00841   }
00842 }
00843 
<a name="l00871"></a><a class="code" href="classBasicPlayer.html#b18">00871</a> <a class="code" href="classSoccerCommand.html">SoccerCommand</a> <a class="code" href="classBasicPlayer.html#b18">BasicPlayer::turnWithBallTo</a>( <a class="code" href="Geometry_8h.html#a2">AngDeg</a> ang, <a class="code" href="Geometry_8h.html#a2">AngDeg</a> angKickThr,
00872                                            <font class="keywordtype">double</font> dFreezeThr )
00873 {
00874   <font class="comment">// if opponent is close </font>
00875   <font class="comment">// if ball is located more than 'angKickThr' degrees from ang</font>
00876   <font class="comment">//  kick ball to point right in front of player in direction ang</font>
00877   <font class="comment">// else if ball has still speed higher than 'dFreezeThr'</font>
00879 <font class="comment">  // else</font>
00880   <font class="comment">//  turn to direction 'ang'</font>
00881   <a class="code" href="classVecPosition.html">VecPosition</a> posAgent = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a43">getAgentGlobalPosition</a>();
00882   <a class="code" href="classVecPosition.html">VecPosition</a> posBall  = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a47">getBallPos</a>();
00883   <a class="code" href="Geometry_8h.html#a2">AngDeg</a>      angBody  = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a38">getAgentGlobalBodyAngle</a>();
00884   <a class="code" href="Geometry_8h.html#a2">AngDeg</a>      angDiff  = (posBall-posAgent).getDirection() - ang;
00885               angDiff  = <a class="code" href="classVecPosition.html#d1">VecPosition::normalizeAngle</a>( angDiff );
00886   <font class="keywordtype">double</font>      dDist;
00887   <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>     objOpp   = <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a116">getClosestInSetTo</a>( <a class="code" href="SoccerTypes_8h.html#a241a116">OBJECT_SET_OPPONENTS</a>,
00888                            <a class="code" href="classBasicPlay