attention_to_~

Brainstormers(头脑风暴)队是05年robocup冠军,这是05年Brainstormers公布的源代码,Brainstormers是robocup老牌的德国强队

(79) # () S 8 T (MYLOG_POL\(0,<<") S
(ATTENTION 2: Checking relevant teammate ) str
(") p n
(80) # () S 8 T () S 16 T (<<teammate->number<<") S
( age ) str
("<<teammate->age\);) p n
(81) # () S 8 T () S
(if) K
(\(new_att == 0 && teammate->age >1\){ ) p
(// not yet found and too old) c n
(82) # () S
() p 8 T (  new_att = teammate->number;) N
(83) # () S 8 T (}) N
(84) # () S 8 T () S
(if) K
(\(teammate->age >3\){ ) p
(// much too old -> emergency set attention) c n
(85) # () S
() p 8 T (  new_att = teammate->number;) N
(86) # () S 8 T (  ) S
(break) K
(;) p n
(87) # () S 8 T (}) N
(88) # (      }) N
(89) # (      ) S
(else) K
({ ) p
(// strange: relevant teammate not found -> set attention to) c n
(90) # () S
() p 8 T (MYLOG_POL\(0,<<") S
(ATTENTION 2: Teammate ) str
("<<WSinfo::relevant_teammate[i]<<") p
( not f) str n
0 T (ound. Set attention) S
("\);) p n
(91) # () S 8 T (new_att =WSinfo::relevant_teammate[i];) N
(92) # () S 8 T () S
(break) K
(; ) p
(// quit loop) c n
(93) # () S
(      }) p n
(94) # (    }) N
(95) # (  }) N
(96) # () N
(97) # () N
(98) # () N
(99) # (  ) S
(int) k
( old_att= WSinfo::ws->my_attentionto;) p n
(100) # (  ) S
(if) K
( \(old_att <= 0\)) p n
(101) # (    old_att= 0;) N
(102) # (  ) S
(if) K
( \(new_att <= 0\)) p n
(103) # (    new_att= 0;) N
(104) # () N
(105) # (  ) S
(if) K
( \( old_att == new_att \) {) p n
(106) # (    MYLOG_POL\(0,<<") S
(ATTENTION TO: old attention = new attention: ) str
("<<new_att\);) p n
(107) # (    ) S
(return) K
(;) p n
(108) # (  }) N
(109) # () N
(110) # () N
(111) # (  ) S
(if) K
( \( new_att > 0 \) {) p n
(112) # () S
(#if) K
( 0 ) p
(// ridi: do not check this -> we want to listen to players, that we don' t) c n
0 T ( see currently) N
(113) # () S
(    PPlayer p= WSinfo::get_teammate_by_number\(new_att\);) p n
(114) # (    ) S
(if) K
( \( p && p->alive \){ ) p
(//otherwise attentionto causes \(wrong command form\) me) c n
0 T (ssages) N
(115) # () S
(#endif) K n
(116) # () S
(      cmd.cmd_att.set_attentionto\(new_att\);) p n
(117) # (      MYLOG_POL\(0,<<") S
(ATTENTION TO: Set Attention to player ) str
("<<new_att\);) p n
(118) # (      ) S
(//    }) c n
(119) # () S
(  }) p n
(120) # (  ) S
(else) K
({ ) p
(// new_att <= 0;  this should not happen) c n
(121) # () S
(    cmd.cmd_att.set_attentionto_none\(\);) p n
(122) # (    MYLOG_POL\(0,<<") S
(ATTENTION TO: set NO attention -> CHECK!!!) str
("\);) p n
(123) # (  }) N
(124) # (}) N
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(125) # () p n
(126) # () S
(void) k
( AttentionTo::construct_say_message\(Cmd & cmd\){) p n
(127) # (  IntentionType intention;) N
(128) # (  Vector target;) N
(129) # (  Value speed,dir;) N
(130) # (  ) S
(int) k
( target_player_number;) p n
(131) # () N
(132) # (  ) S
(// Communication for GOALIE) c n
(133) # () S
(  ) p
(if) K
( \(ClientOptions::consider_goalie\) {) p n
(134) # (    ) S
(if) K
( \(\(WSinfo::ball->age <= 4\) && \(WSinfo::ws->play_mode == PM_PlayOn\)\) {) p n
(135) # (      cmd.cmd_say.set_ball\(WSinfo::ball->pos, WSinfo::ball->vel, WSinfo::ball->a) N
0 T (ge, 4\);) N
(136) # (      ) S
(return) K
(;) p n
(137) # (    } ) N
(138) # (  } ) S
(// Goalie) c n
(139) # () N
(140) # () N
(141) # () S
(  ) p
(// Communication for PASS PLAYER) c n
(142) # () S
(  ) p
(if) K
(\(Blackboard::get_pass_info\(WSinfo::ws->time, speed, target, target_player_nu) p n
0 T (mber\) == true\){) N
(143) # (    MYLOG_POL\(0, << ") S
(COMMUNICATION: Blackboard intention is PASS: to ) str
("<<target_player_numb) p n
0 T (er<<") S
( target pos ) str
(") p n
(144) # () S 8 T (    <<target<<") S
( w. speed ) str
("<<speed<<") p
( -> Communicate) str
("\);) p n
(145) # (    ) S
(int) k
( cycles2go = 0; ) p
(// communicate for one cycle only) c n
(146) # () S
(    Vector ballvel;) p n
(147) # (    ballvel.init_polar\(speed,\(target - WSinfo::me->pos\).arg\(\)\);) N
(148) # (    cmd.cmd_say.set_pass\(WSinfo::me->pos,ballvel,WSinfo::ws->time + cycles2go\);) N
(149) # (    ) S
(return) K
(;) p n
(150) # (  } ) S
(// pass info was set) c n
(151) # () N
(152) # () S
(  ) p
(// Communication for PASS PLAYER, WHEN BALL JUST LEFT) c n
(153) # () S
(  ) p
(if) K
(\(WSinfo::is_ball_kickable\(\) == false && WSmemory::ball_was_kickable4me_at ==) p n
0 T ( WSinfo::ws->time -1\){) N
(154) # (    ) S
(// I had the ball last time, so communicate where the ball is now) c n
(155) # () S
(    MYLOG_POL\(0, << ") p
(Communicate: I had the ball last cycle, now I say where it goes ) str
("\);) p n
(156) # (    cmd.cmd_say.set_ball\(WSinfo::ball->pos, WSinfo::ball->vel, WSinfo::ball->age) N
0 T (, WSinfo::ball->age \);) N
(157) # (  }) N
(158) # (  ) N
(159) # (  ) S
(// Communication for BALL HOLDER) c n
(160) # () S
(  ) p
(if) K
(\(WSinfo::is_ball_pos_valid\(\) && WSinfo::is_ball_kickable\(\)\){ ) p
(// ball is kick) c n
0 T (able, but no pass info was set) N
(161) # () S
(    MYLOG_POL\(0, << ") p
(COMMUNICATE: I have the ball and my Position. Use set me as Ballholder) str
("\);) p n
(162) # (    cmd.cmd_say.set_me_as_ball_holder\(WSinfo::me->pos\);) N
(163) # (    ) S
(return) K
(;) p n
(164) # (  }) N
(165) # () N
(166) # (  ) S
(// Communication for PLAYER WO BALL) c n
(167) # () S
(  generate_players4communication\(cmd\);) p n
(168) # (}) N
(169) # () N
(170) # () S
(#define) K
( MAX_SAY_CAPACITY 4 ) p
(// no more than 4 players) c n
(171) # () N
(172) # () S
(void) k
( AttentionTo::generate_players4communication\(Cmd & cmd_form\){) p n
(173) # () N
(174) # (  WSpset players4communication;) N
(175) # (  PPlayer ballholder = WSinfo::teammate_closest2ball\(\);) N
(176) # () N
(177) # (  ) S
(if) K
(\(!WSinfo::is_ball_kickable\(\)\) {) p
(// I do not control the ball myself) c n
(178) # () S
(    ) p
(// compute my next position) c n
(179) # () S
(    Vector my_next_pos, my_next_vel;) p n
(180) # (    Angle my_next_ang;) N
(181) # (    Tools::model_player_movement\(WSinfo::me->pos,WSinfo::me->vel,WSinfo::me->ang) N
0 T (.get_value\(\),) N
(182) # () S 8 T () S 16 T () S 24 T () S 32 T ( cmd_form.cmd_main, my_next_pos, ) N
(183) # () S 8 T () S 16 T () S 24 T () S 32 T ( my_next_vel, my_next_ang\);) N
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(184) # () p n
(185) # (    MYLOG_POL\(0,<<") S
(I am not holding the ball, so communicate my next position ) str
(") p n
(186) # () S 8 T (    << my_next_pos<<") S
( \(current pos ) str
("<<WSinfo::me->pos\);      ) p n
(187) # (    ) S
(//    MYLOG_POL\(0,<<_2D<<C2D\(my_next_pos.x, my_next_pos.y, 1.1, "grey"\)\);) c n
(188) # () N
(189) # () S
(    ) p
(// construct communication set :) c n
(190) # () S
(    WS::Player next_me = *WSinfo::me;) p n
(191) # () N
(192) # (    next_me.pos = my_next_pos;) N
(193) # (    players4communication.append\(&next_me\);) N
(194) # (      ) N
(195) # (    ) S
(if) K
(\(ballholder !=) p
(NULL) K
(\){) p n
(196) # (      WSpset pset= WSinfo::valid_opponents;) N
(197) # (      pset.keep_players_with_max_age\(1\);) N
(198) # () N
(199) # (      ) S
(float) k
( width1 =  1.0 * 2* \(\(ballholder->pos-WSinfo::me->pos\).norm\(\)/2.5\);) p n
(200) # (      ) S
(float) k
( width2 = 4; ) p
(// at ball be  a little smaller) c n
(201) # () S
(      Quadrangle2d check_area = Quadrangle2d\(ballholder->pos, WSinfo::me->pos , ) p n
0 T (width1, width2\);) N
(202) # (      LOG_POL\(0, <<_2D<<check_area \);) N
(203) # (      pset.keep_players_in\(check_area\);) N
(204) # (      ) S
(//pset.keep_players_in_quadrangle\(WSinfo::me->pos, ballholder->pos, 10 \); ) c n
0 T (// players between me and ballholder) N
(205) # () N
(206) # () S
(      pset.keep_and_sort_closest_players_to_point\(2,ballholder->pos\);) p n
(207) # (    ) N
(208) # (      ) S
(if) K
(\(pset.num>0\){) p n
(209) # () S 8 T (MYLOG_POL\(0,<<") S
(COMMUNICATE: Found Opponents in passway: ) str
("<<pset.num\);) p n
(210) # () S 8 T (players4communication.append\(pset\);) N
(211) # (      }) N
(212) # (      pset= WSinfo::valid_opponents;) N
(213) # (      pset.keep_players_with_max_age\(0\);) N
(214) # (      pset.keep_players_in_circle\(ballholder->pos,5.\); ) S
(// opponents close 2 me) c n
(215) # () S
(      pset.keep_and_sort_closest_players_to_point\(2,ballholder->pos\);) p n
(216) # (      ) S
(if) K
(\(pset.num>0\){) p n
(217) # () S 8 T (MYLOG_POL\(0,<<") S
(COMMUNICATE: Found Opponents close2e ballholder: ) str
("<<pset.num\);) p n
(218) # () S 8 T (players4communication.join\(pset\);) N
(219) # (      }) N
(220) # (    }) N
(221) # () N
(222) # (    ) S
(if) K
(\(players4communication.num < MAX_SAY_CAPACITY\){) p n
(223) # (      WSpset pset= WSinfo::valid_opponents;) N
(224) # (      pset.keep_players_with_max_age\(0\);) N
(225) # (      pset.keep_players_in_circle\(my_next_pos,40.\); ) S
(// opponents close 2 me) c n
(226) # () S
(      pset.keep_and_sort_closest_players_to_point\(10,my_next_pos\);) p n
(227) # (      ) S
(if) K
(\(pset.num>0\){) p n
(228) # () S 8 T (MYLOG_POL\(0,<<") S
(COMMUNICATE: Found Opponents close2e my next pos: ) str
("<<pset.num\);) p n
(229) # () S 8 T (players4communication.join\(pset\);) N
(230) # (      }) N
(231) # (    }) N
(232) # () N
(233) # (    ) S
(if) K
(\(players4communication.num < MAX_SAY_CAPACITY\){) p n
(234) # (      WSpset pset= WSinfo::valid_teammates_without_me;) N
(235) # (      pset.keep_players_with_max_age\(0\);) N
(236) # (      pset.keep_players_in_circle\(my_next_pos,40.\); ) S
(// opponents close 2 me) c n
(237) # () S
(      pset.keep_and_sort_closest_players_to_point\(10,my_next_pos\);) p n
(238) # (      ) S
(if) K
(\(pset.num>0\){) p n
(239) # () S 8 T (MYLOG_POL\(0,<<") S
(COMMUNICATE: Found Opponents close2e my next pos: ) str
("<<pset.num\);) p n
(240) # () S 8 T (players4communication.join\(pset\);) N
(241) # (      }) N
(242) # (    }) N
(243) # () N
(244) # () N
(245) # () N
(246) # (  } ) S
(// ball is not kickable for me and teammate controls the ball) c n
(247) # () N
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(248) # () p n
(249) # () N
(250) # (  ) S
(for) K
(\() p
(int) k
( i=0; i<players4communication.num;i++\){) p n
(251) # (    MYLOG_POL\(0,<<") S
(My communication set ) str
("<<i<<") p
( number ) str
(") p n
(252) # () S 8 T (    <<players4communication[i]->number<<") S
( pos ) str
("<<players4communication[i]) p n
0 T (->pos\);) N
(253) # (    ) N
(254) # (    MYLOG_POL\(0,<<_2D<<C2D\(players4communication[i]->pos.x, players4communicatio) N
0 T (n[i]->pos.y, 1.3, ") S
(magenta) str
("\)\);) p n
(255) # (  }) N
(256) # (  cmd_form.cmd_say.set_players\( players4communication \);) N
(257) # () N
(258) # (}) N
(259) # () N
(260) # (bool AttentionTo::teammate_controls_ball\() S
(int) k
( &number, Vector & pos\){) p n
(261) # (  number = 0; ) S
(// default) c n
(262) # () S
(  ) p
(if) K
(\(WSinfo::is_ball_kickable\(\) != false\){) p
(// I control the ball myself!) c n
(263) # () S
(    ) p
(return) K
( false;) p n
(264) # (  }) N
(265) # (  ) S
(int) k
( steps2go;) p n
(266) # (  Vector ipos;) N
(267) # (    ) N
(268) # (  PPlayer teammate=Tools::get_our_fastest_player2ball\(ipos, steps2go\);) N
(269) # (  ) S
(if) K
(\(steps2go <=2 && teammate\){ ) p
(// check: steps2go <= 1 oder steps2go <= 2 besse) c n
0 T (r?) N
(270) # () S
(    number=teammate->number;) p n
(271) # (    pos = teammate->pos;) N
(272) # (    ) S
(return) K
( true;) p n
(273) # (  }) N
(274) # (  ) S
(return) K
( false;) p n
(275) # (}) N
(276) # () N
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