player_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 545 行 · 第 1/5 页

00252          <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( soc );            <font class="comment">// move to strategic pos</font>
00253          <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( <a class="code" href="classBasicPlayer.html#b13">turnNeckToObject</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a>, soc ) );
00254        }
00255        <font class="keywordflow">else</font>                                        <font class="comment">// else watch ball</font>
00256        {
00257          <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( soc = <a class="code" href="classBasicPlayer.html#b12">turnBodyToObject</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a> ) );
00258          <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( <a class="code" href="classBasicPlayer.html#b13">turnNeckToObject</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a>, soc ) );
00259        }
00260      }
00261      <font class="keywordflow">else</font> <font class="keywordflow">if</font>( fabs( <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> ) ) &gt; 1.0 ) <font class="comment">// watch ball</font>
00262      {
00263        <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( soc = <a class="code" href="classBasicPlayer.html#b12">turnBodyToObject</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a> ) );
00264        <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( <a class="code" href="classBasicPlayer.html#b13">turnNeckToObject</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a>, soc ) );
00265      }
00266      <font class="keywordflow">else</font>                                         <font class="comment">// nothing to do</font>
00267        <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( <a class="code" href="classSoccerCommand.html">SoccerCommand</a>(<a class="code" href="SoccerTypes_8h.html#a247a183">CMD_TURNNECK</a>,0.0) );
00268    }
00269 }
00270 
00271 
<a name="l00278"></a><a class="code" href="classPlayer.html#a4">00278</a> <font class="keywordtype">void</font> <a class="code" href="classPlayer.html#a4">Player::deMeer5_goalie</a>(  )
00279 {
00280   <font class="keywordtype">int</font> i;
00281   <a class="code" href="classSoccerCommand.html">SoccerCommand</a> soc;
00282   <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>();
00283   <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>();
00284 
00285   <font class="comment">// define the top and bottom position of a rectangle in which keeper moves</font>
00286   <font class="keyword">static</font> <font class="keyword">const</font> <a class="code" href="classVecPosition.html">VecPosition</a> posLeftTop( -<a class="code" href="SoccerTypes_8h.html#a13">PITCH_LENGTH</a>/2.0 +
00287                0.7*<a class="code" href="SoccerTypes_8h.html#a16">PENALTY_AREA_LENGTH</a>, -<a class="code" href="SoccerTypes_8h.html#a17">PENALTY_AREA_WIDTH</a>/4.0 );
00288   <font class="keyword">static</font> <font class="keyword">const</font> <a class="code" href="classVecPosition.html">VecPosition</a> posRightTop( -<a class="code" href="SoccerTypes_8h.html#a13">PITCH_LENGTH</a>/2.0 +
00289                0.7*<a class="code" href="SoccerTypes_8h.html#a16">PENALTY_AREA_LENGTH</a>, +<a class="code" href="SoccerTypes_8h.html#a17">PENALTY_AREA_WIDTH</a>/4.0 );
00290 
00291   <font class="comment">// define the borders of this rectangle using the two points.</font>
00292   <font class="keyword">static</font> <a class="code" href="classLine.html">Line</a>  lineFront = <a class="code" href="classLine.html#d0">Line::makeLineFromTwoPoints</a>(posLeftTop, posRightTop);
00293   <font class="keyword">static</font> <a class="code" href="classLine.html">Line</a>  lineLeft  = <a class="code" href="classLine.html#d0">Line::makeLineFromTwoPoints</a>(
00294                          <a class="code" href="classVecPosition.html">VecPosition</a>( -50.0, posLeftTop.<a class="code" href="classVecPosition.html#a28">getY</a>()), posLeftTop );
00295   <font class="keyword">static</font> <a class="code" href="classLine.html">Line</a>  lineRight = <a class="code" href="classLine.html#d0">Line::makeLineFromTwoPoints</a>(
00296                          <a class="code" href="classVecPosition.html">VecPosition</a>( -50.0, posRightTop.<a class="code" href="classVecPosition.html#a28">getY</a>()),posRightTop );
00297 
00298 
00299   <font class="keywordflow">if</font>( <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a85">isBeforeKickOff</a>( ) )
00300   {
00301     <font class="keywordflow">if</font>( <a class="code" href="classPlayer.html#o0">formations</a>-&gt;<a class="code" href="classFormations.html#a5">getFormation</a>() != <a class="code" href="SoccerTypes_8h.html#a249a201">FT_INITIAL</a> || <font class="comment">// not in kick_off formation</font>
00302         posAgent.<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>( <a class="code" href="classPlayer.html#a1">getStrategicPosition</a>() ) &gt; 2.0 )  
00303     {
00304       <a class="code" href="classPlayer.html#o0">formations</a>-&gt;<a class="code" href="classFormations.html#a4">setFormation</a>( <a class="code" href="SoccerTypes_8h.html#a249a201">FT_INITIAL</a> );       <font class="comment">// go to kick_off formation</font>
00305       <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( <a class="code" href="classBasicPlayer.html#b11">teleportToPos</a>( <a class="code" href="classPlayer.html#a1">getStrategicPosition</a>() ) );
00306     }
00307     <font class="keywordflow">else</font>                                            <font class="comment">// else turn to center</font>
00308     {
00309       <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( <a class="code" href="classBasicPlayer.html#b1">turnBodyToPoint</a>( <a class="code" href="classVecPosition.html">VecPosition</a>( 0, 0 ), 0 ) );
00310       <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( <a class="code" href="classBasicPlayer.html#b0">alignNeckWithBody</a>( ) );
00311     }
00312     <font class="keywordflow">return</font>;
00313   }
00314 
00315   <font class="keywordflow">if</font>( <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a61">getConfidence</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a> ) &lt; <a class="code" href="classBasicPlayer.html#n3">PS</a>-&gt;<a class="code" href="classPlayerSettings.html#a5">getBallConfThr</a>() )
00316   {                                                <font class="comment">// confidence ball too  low</font>
00317     <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( <a class="code" href="classBasicPlayer.html#b4">searchBall</a>() );        <font class="comment">// search ball</font>
00318     <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( <a class="code" href="classBasicPlayer.html#b0">alignNeckWithBody</a>( ) );
00319   }
00320   <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#a20">getPlayMode</a>() == <a class="code" href="SoccerTypes_8h.html#a242a136">PM_PLAY_ON</a> || <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a74">isFreeKickThem</a>() ||
00321            <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a76">isCornerKickThem</a>() )               
00322   {
00323     <font class="keywordflow">if</font>( <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a129">isBallCatchable</a>() )
00324     {
00325       <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( soc = <a class="code" href="classBasicPlayer.html#b9">catchBall</a>() );
00326       <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( <a class="code" href="classBasicPlayer.html#b13">turnNeckToObject</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a>, soc ) );
00327     }
00328      <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#a128">isBallKickable</a>() )
00329     {
00330        soc = <a class="code" href="classBasicPlayer.html#b17">kickTo</a>( <a class="code" href="classVecPosition.html">VecPosition</a>(0,posAgent.<a class="code" href="classVecPosition.html#a28">getY</a>()*2.0), 2.0 );    
00331        <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( soc );
00332        <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( <a class="code" href="classBasicPlayer.html#b13">turnNeckToObject</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a>, soc ) );
00333     }
00334     <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#a133">isInOwnPenaltyArea</a>( <a class="code" href="classBasicPlayer.html#b29">getInterceptionPointBall</a>( &amp;i, <font class="keyword">true</font> ) ) &amp;&amp;
00335              <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a122">getFastestInSetTo</a>( <a class="code" href="SoccerTypes_8h.html#a241a117">OBJECT_SET_PLAYERS</a>, <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a>, &amp;i ) == 
00336                                                <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a34">getAgentObjectType</a>() )
00337     {
00338       <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( soc = <a class="code" href="classBasicPlayer.html#b20">intercept</a>( <font class="keyword">true</font> ) );
00339       <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( <a class="code" href="classBasicPlayer.html#b13">turnNeckToObject</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a>, soc ) );
00340     }
00341     <font class="keywordflow">else</font>
00342     {
00343       <font class="comment">// make line between own goal and the ball</font>
00344       <a class="code" href="classVecPosition.html">VecPosition</a> posMyGoal = ( <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a16">getSide</a>() == <a class="code" href="SoccerTypes_8h.html#a246a177">SIDE_LEFT</a> )
00345              ? <a class="code" href="classSoccerTypes.html#d17">SoccerTypes::getGlobalPositionFlag</a>(<a class="code" href="SoccerTypes_8h.html#a240a25">OBJECT_GOAL_L</a>, <a class="code" href="SoccerTypes_8h.html#a246a177">SIDE_LEFT</a> )
00346              : <a class="code" href="classSoccerTypes.html#d17">SoccerTypes::getGlobalPositionFlag</a>(<a class="code" href="SoccerTypes_8h.html#a240a26">OBJECT_GOAL_R</a>, <a class="code" href="SoccerTypes_8h.html#a246a178">SIDE_RIGHT</a>);
00347       <a class="code" href="classLine.html">Line</a> lineBall = <a class="code" href="classLine.html#d0">Line::makeLineFromTwoPoints</a>( <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a47">getBallPos</a>(), posMyGoal);
00348 
00349       <font class="comment">// determine where your front line intersects with the line from ball</font>
00350       <a class="code" href="classVecPosition.html">VecPosition</a> posIntersect = lineFront.<a class="code" href="classLine.html#a2">getIntersection</a>( lineBall );
00351 
00352       <font class="comment">// outside rectangle, use line at side to get intersection</font>
00353       <font class="keywordflow">if</font> (posIntersect.<a class="code" href="classVecPosition.html#a40">isRightOf</a>( posRightTop ) )
00354         posIntersect = lineRight.<a class="code" href="classLine.html#a2">getIntersection</a>( lineBall );
00355       <font class="keywordflow">else</font> <font class="keywordflow">if</font> (posIntersect.<a class="code" href="classVecPosition.html#a38">isLeftOf</a>( posLeftTop )  )
00356         posIntersect = lineLeft.<a class="code" href="classLine.html#a2">getIntersection</a>( lineBall );
00357 
00358       <font class="keywordflow">if</font>( posIntersect.<a class="code" href="classVecPosition.html#a26">getX</a>() &lt; -49.0 )
00359         posIntersect.<a class="code" href="classVecPosition.html#a25">setX</a>( -49.0 );
00360         
00361       <font class="comment">// and move to this position</font>
00362       <font class="keywordflow">if</font>( posIntersect.<a class="code" href="classVecPosition.html#a30">getDistanceTo</a>( <a class="code" href="classBasicPlayer.html#n1">WM</a>-&gt;<a class="code" href="classWorldModel.html#a43">getAgentGlobalPosition</a>() ) &gt; 0.5 )
00363       {
00364         soc = <a class="code" href="classBasicPlayer.html#b14">moveToPos</a>( posIntersect, <a class="code" href="classBasicPlayer.html#n3">PS</a>-&gt;<a class="code" href="classPlayerSettings.html#a9">getPlayerWhenToTurnAngle</a>() );
00365         <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( soc );
00366         <a class="code" href="classBasicPlayer.html#n0">ACT</a>-&gt;<a class="code" href="classActHandler.html#a1">putCommandInQueue</a>( <a class="code" href="classBasicPlayer.html#b13">turnNeckToObject</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a>, soc ) );