score_bms.c.ps

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

(124) # (      ) S
(if) K
( \(multi_step\) {) p n
(125) # () S 8 T (LOG_DAN\(0, << ") S
(shoot with neuro_kick2! velocity = ) str
(" << velocity ) p n
(126) # () S 8 T () S 16 T (<< ") S
( target.x = ) str
(" << target.x << ") p
( target.y = ) str
(" << target.y\);) p n
(127) # () S 8 T (mdpInfo::set_my_intention\(DECISION_TYPE_SCORE, velocity, direction,) N
(128) # () S 8 T () S 16 T () S 24 T () S 32 T (  target.x, target.y, best_index\);) N
(129) # () S 8 T (mdpInfo::set_my_neck_intention\(NECK_INTENTION_LOOKINDIRECTION, target_dir\);) S
(//) c n
0 T (direction\);) N
(130) # () S
() p 8 T (intention.set_score\(target, velocity, WSinfo::ws->time\);) N
(131) # () S 8 T () S
(//set_aaction_score\(aaction, target, velocity\);) c n
(132) # () S
() p 8 T () S
(return) K
( true;) p n
(133) # () S 8 T () S
(//return Move_Factory::get_Neuro_Kick2\(5, velocity, target.x, target.y\);) c n
(134) # () S
(      } ) p
(else) K
( {) p n
(135) # () S 8 T (LOG_DAN\(0, << ") S
(shoot with one step kick! velocity = ) str
(" << velocity ) p n
(136) # () S 8 T () S 16 T (<< ") S
( dir = ) str
(" << direction\);) p n
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(137) # () p 8 T () S
(//) c 16 T (return Move_Factory::get_1Step_Kick\(velocity, direction\);) N
(138) # () S
() p 8 T (intention.set_score\(target, velocity, WSinfo::ws->time\);) N
(139) # () S 8 T () S
(//set_aaction_score\(aaction, target, velocity\);) c n
(140) # () S
() p 8 T () S
(return) K
( true;) p n
(141) # (      }) N
(142) # () N
(143) # (    } ) S
(else) K
( {) p n
(144) # () N
(145) # (      ) S
(if) K
( \(goalie->age <= 4\) {) p n
(146) # () S 8 T (LOG_DAN\(0, << ") S
(opponent goalie too young, don't look to him) str
("\);) p n
(147) # () S 8 T () S
(return) K
( false;) p n
(148) # (      }) N
(149) # () N
(150) # (      LOG_DAN\(0, << ") S
(opponent goalie too old, look to goal with hold ball) str
("\);) p n
(151) # (      ) S
(//Value target_dir = \(mdpInfo::opponent_goalpos\(\)-WSinfo::me->pos\).arg\(\);) c n
(152) # () S
(      ) p n
(153) # (      ) S
(if) K
( \(last_time_look_to_goal != WSinfo::ws->time - 1\) {) p n
(154) # () S 8 T (nr_of_looks_to_goal = 1;) N
(155) # (      } ) S
(else) K
( {) p n
(156) # () S 8 T (++nr_of_looks_to_goal;) N
(157) # (      }) N
(158) # (      last_time_look_to_goal = WSinfo::ws->time;) N
(159) # () N
(160) # (      ) S
(/*) c n
(161) # (      if \(nr_of_looks_to_goal == 1\) {) N
(162) # () S 8 T (LOG_DAN\(0, << "look to center of goal"\);) N
(163) # () S 8 T (target_dir = \(mdpInfo::opponent_goalpos\(\)-WSinfo::me->pos\).arg\(\);) N
(164) # (      }) N
(165) # (      else if \(nr_of_looks_to_goal == 2\) {) N
(166) # () S 8 T (LOG_DAN\(0, << "look to left goalcorner"\);) N
(167) # () S 8 T (target_dir = \(ServerOptions::their_left_goal_corner-WSinfo::me->pos\).arg\(\);) N
(168) # (      }) N
(169) # (      else if \(nr_of_looks_to_goal == 3\) {) N
(170) # () S 8 T (LOG_DAN\(0, << "look to right goalcorner"\);) N
(171) # () S 8 T (target_dir = \(ServerOptions::their_right_goal_corner-WSinfo::me->pos\).arg\(\);) N
(172) # (      }) N
(173) # (      else if \(nr_of_looks_to_goal == 4\) {*/) N
(174) # () S
(      ) p
(if) K
( \(nr_of_looks_to_goal >= 3\) {) p n
(175) # () S 8 T () S
(if) K
( \(multi_step\) {) p n
(176) # () S 8 T (  LOG_DAN\(0, << ") S
(I looked to goal, didn't see goalie and I'm close to goal, shoot) str
("\);) p n
(177) # () S 8 T (  LOG_DAN\(0, << ") S
(shoot with neuro_kick2! velocity = ) str
(" << velocity ) p n
(178) # () S 8 T () S 16 T (  << ") S
( target.x = ) str
(" << target.x << ") p
( target.y = ) str
(" << target.y\);) p n
(179) # () S 8 T (  mdpInfo::set_my_neck_intention\(NECK_INTENTION_LOOKINDIRECTION, direction\);) N
(180) # () S 8 T (  mdpInfo::set_my_intention\(DECISION_TYPE_SCORE, velocity, direction,) N
(181) # () S 8 T () S 16 T () S 24 T () S 32 T (    target.x, target.y, best_index\);) N
(182) # () S 8 T (  intention.set_score\(target, velocity, WSinfo::ws->time\);) N
(183) # () S 8 T (  ) S
(//set_aaction_score\(aaction, target, velocity\);) c n
(184) # () S
() p 8 T (  ) S
(return) K
( true;) p n
(185) # () N
(186) # () S 8 T (} ) S
(else) K
( {) p n
(187) # () S 8 T (  LOG_DAN\(0, << ") S
(shoot with one step kick! velocity = ) str
(" << velocity ) p n
(188) # () S 8 T () S 16 T (  << ") S
( dir = ) str
(" << direction\);) p n
(189) # () S 8 T (  ) S
(//return Move_Factory::get_1Step_Kick\(velocity, direction\);) c n
(190) # () S
() p 8 T (  intention.set_score\(target, velocity, WSinfo::ws->time\);) N
(191) # () S 8 T (  ) S
(//set_aaction_score\(aaction, target, velocity\);) c n
(192) # () S
() p 8 T (  ) S
(return) K
( true;) p n
(193) # () S 8 T (}) N
(194) # (      }) N
(195) # () S 8 T () N
(196) # (      mdpInfo::set_my_neck_intention\(NECK_INTENTION_LOOKINDIRECTION, target_dir\);) N
(197) # (      ) S
(if) K
(\(mdpInfo::could_see_in_direction\(target_dir\) == true\) {) p n
(198) # () S 8 T () S
(// I can see in direction by turning neck without turning body) c n
(199) # () S
() p 8 T (mdpInfo::set_my_neck_intention\(NECK_INTENTION_LOOKINDIRECTION, target_dir\);) N
(200) # () S 8 T (mdpInfo::set_my_intention\(DECISION_TYPE_LOOKFORGOALIE, mdpInfo::opponent_goal) N
0 T (pos\(\).x, ) N
(201) # () S 8 T () S 16 T () S 24 T () S 32 T (  mdpInfo::opponent_goalpos\(\).y\);) N
(202) # () S 8 T () S
(// ridi03:todo) c n
(203) # () S
() p 8 T () S
(//) c 16 T (return Move_Factory::get_Hold_Ball\(1\);) S 56 T () N
(204) # () S
() p 8 T () N
(205) # () S 8 T () S
(//LOG_ERR\(0,"WBALL03: should hold ball and look; not yet implemented"\);) c n
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(206) # () p 8 T () S
(//LOG_DAN\(BASELEVEL,"WBALL03: should hold ball and look; not yet implemented") c n
0 T (\);) N
(207) # () S
() p 8 T (intention.set_holdturn\(ANGLE\(target_dir\), WSinfo::ws->time\);) N
(208) # () S 8 T () S
(return) K
( true;) p n
(209) # (      } ) S
(else) K
( {) p n
(210) # () S 8 T () S
(// have to turn body.) c n
(211) # () S
() p 8 T (LOG_DAN\(0, ") S
( have to turn body, but don't do it) str
("\);) p n
(212) # () S 8 T (last_time_look_to_goal = -1;) N
(213) # () S 8 T () S
(return) K
( false;) p n
(214) # () S 8 T () S
(/*) c n
(215) # () S 8 T (  mdpInfo::set_my_neck_intention\(NECK_INTENTION_LOOKINDIRECTION, target_dir\);) N
0 T (     ) N
(216) # () S 8 T (  return Move_Factory::get_Hold_Ball\(target_dir,1\); ) N
(217) # () S 8 T (*/) N
(218) # () S
(      }) p n
(219) # (    }) N
(220) # () N
(221) # (  } ) S
(else) K
( ) p
(if) K
( \(result == 3\) {) p n
(222) # (    ) S
(//risky because opponent could intercept) c n
(223) # () N
(224) # () S
(  } ) p
(else) K
( ) p
(if) K
( \(result == 4\) {) p n
(225) # (    ) S
(//risky because goal could be missed) c n
(226) # () N
(227) # () S
(    saved_velocity = velocity;) p n
(228) # (    saved_direction = direction;) N
(229) # (    saved_target = target;) N
(230) # (    saved_multi_step = multi_step;) N
(231) # (    risky_goalshot_possible = 1;) N
(232) # () N
(233) # (  } ) S
(else) K
( ) p
(if) K
( \(\(result == 5\) || \(result == 6\)\) {) p n
(234) # (    ) S
(//opponent goalie not alive or goalie number not known or other strange problem) c n
(235) # () N
(236) # () S
(    ) p
(if) K
( \(\(mdpInfo::opponent_goalpos\(\) - WSinfo::me->pos\).norm\(\) > 25.0\) {) p n
(237) # (      LOG_DAN\(0, ") S
( result 5 and too far) str
("\);) p n
(238) # (      ) S
(return) K
( false;) p n
(239) # (    }) N
(240) # () N
(241) # (    LOG_DAN\(0, << ") S
(opponent goalie not alive, number not known or other strange problem, look to goal with hold ball) str
() p n
0 T ("\);) N
(242) # (    Value target_dir = \(mdpInfo::opponent_goalpos\(\)-WSinfo::me->pos\).arg\(\);) N
(243) # (    ) N
(244) # (    ) S
(if) K
( \(last_time_look_to_goal != WSinfo::ws->time - 1\) {) p n
(245) # (      nr_of_looks_to_goal = 1;) N
(246) # (    } ) S
(else) K
( {) p n
(247) # (      ++nr_of_looks_to_goal;) N
(248) # (    }) N
(249) # (    last_time_look_to_goal = WSinfo::ws->time;) N
(250) # () N
(251) # (    target_dir = \(mdpInfo::opponent_goalpos\(\)-WSinfo::me->pos\).arg\(\);) N
(252) # (    ) S
(/*) c n
(253) # (    if \(nr_of_looks_to_goal == 1\) target_dir = \(mdpInfo::opponent_goalpos\(\)-WSinfo::m) N
0 T (e->pos\).arg\(\);) N
(254) # (    else if \(nr_of_looks_to_goal == 2\) target_dir = \(ServerOptions::their_left_goal_c) N
0 T (orner-WSinfo::me->pos\).arg\(\);) N
(255) # (    else if \(nr_of_looks_to_goal == 3\) target_dir = \(ServerOptions::their_right_goal_) N
0 T (corner-WSinfo::me->pos\).arg\(\);) N
(256) # (    else if \(nr_of_looks_to_goal == 4\) {*/) N
(257) # () S
(    ) p
(if) K
( \(nr_of_looks_to_goal >= 3\) {) p n
(258) # (      ) S
(if) K
( \(result == 6\) {) p n
(259) # () S 8 T (Vector goal = Vector\(ServerOptions::pitch_length/2.0, 0.0\);) N
(260) # () S 8 T (ANGLE angle = \(goal-WSinfo::ball->pos\).ARG\(\);) N
(261) # () S 8 T (Value one_step_vel, multi_step_vel;) N
(262) # () S 8 T () S
(//Move_1or2_Step_Kick::get_vel_in_dir\(3.0, angle, one_step_vel, multi_step_ve) c n
0 T (l\);) N
(263) # () S
() p 8 T (oneortwo->kick_in_dir_with_max_vel\(ANGLE\(angle\)\);) N
(264) # () S 8 T (oneortwo->get_vel\(one_step_vel, multi_step_vel\);) N
(265) # () N
(266) # () S 8 T () S
(if) K
( \(one_step_vel > ServerOptions::ball_speed_max\)) p n
(267) # () S 8 T (  one_step_vel = ServerOptions::ball_speed_max;) N
(268) # () N
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(269) # () p 8 T () S
(if) K
( \(multi_step_vel > ServerOptions::ball_speed_max\)) p n
(270) # () S 8 T (  multi_step_vel = ServerOptions::ball_speed_max;) N
(271) # () N
(272) # () S 8 T (LOG_DAN\(0, << ") S
(I looked to goal, didn't see goalie AND opponents and I'm close to goal, shoot) str
("\);) p n
(273) # () S 8 T (LOG_DAN\(0, << ") S
(shoot with neuro_kick2! velocity = ) str
(" << multi_step_vel ) p n
(274) # () S 8 T () S 16 T (<< ") S
( target.x = ) str
(" << goal.x << ") p
( target.y = ) str
(" << goal.y\);) p n
(275) # () S 8 T (mdpInfo::set_my_neck_intention\(NECK_INTENTION_LOOKINDIRECTION, ) N
(276) # () S 8 T () S 16 T () S 24 T () S 32 T (       \(goal-WSinfo::me->pos\).arg\(\)\);) N
(277) # () S 8 T () S
(//return Move_Factory::get_Neuro_Kick2\(5, velocity, target.x, target.y\);) c n
(278) # () S
() p 8 T (intention.set_score\(goal, multi_step_vel, WSinfo::ws->time\);) N
(279) # () S 8 T () S
(//set_aaction_score\(aaction, target, velocity\);) c n
(280) # () S
() p 8 T () S
(return) K
( true;) p 24 T () N
(281) # (      }) N
(282) # (      ) S
(if) K
( \(multi_step\) {) p n
(283) # () S 8 T (LOG_DAN\(0, << ") S
(I looked to goal, didn't see goalie and I'm close to goal, shoot) str
("\);) p n
(284) # () S 8 T (LOG_DAN\(0, << ") S
(shoot with neuro_kick2! velocity = ) str
(" << velocity ) p n
(285) # () S 8 T () S 16 T (<< ") S
( target.x = ) str
(" << target.x << ") p
( target.y = ) str
(" << target.y\);) p n
(286) # () S 8 T (mdpInfo::set_my_neck_intention\(NECK_INTENTION_LOOKINDIRECTION, ) N
(287) # () S 8 T () S 16 T () S 24 T () S 32 T (       \(target-WSinfo::me->pos\).arg\(\)\);) N
(288) # () S 8 T () S
(//return Move_Factory::get_Neuro_Kick2\(5, velocity, target.x, target.y\);) c n
(289) # () S
() p 8 T (intention.set_score\(target, velocity, WSinfo::ws->time\);) N
(290) # () S 8 T () S
(//set_aaction_score\(aaction, target, velocity\);) c n
(291) # () S
() p 8 T () S
(return) K
( true;) p n
(292) # () N
(293) # () S 8 T () S
(//return Move_Factory::get_1or2_Step_Kick\(velocity, target\);) c n
(294) # () S
(      } ) p
(else) K
( {) p n
(295) # () S 8 T (LOG_DAN\(0, << ") S
(shoot with one step kick! velocity = ) str
(" << velocity ) p n
(296) # () S 8 T () S 16 T (<< ") S
( dir = ) str
(" << direction\);) p n
(297) # () S 8 T (intention.set_score\(target, velocity, WSinfo::ws->time\);) N
(298) # () S 8 T () S
(//set_aaction_score\(aaction, target, velocity\);) c n
(299) # () S
() p 8 T () S
(return) K
( true;) p n
(300) # () S 8 T () S
(//return Move_Factory::get_1Step_Kick\(velocity, direction\);) c n
(301) # () S
(      }) p n
(302) # (    }) N
(303) # (    ) N
(304) # (    mdpInfo::set_my_neck_intention\(NECK_INTENTION_LOOKINDIRECTION, target_dir\);) N
(305) # (    ) S
(if) K
(\(mdpInfo::could_see_in_direction\(target_dir\) == true\) {) p n
(306) # (      ) S
(// I can see in direction by turning neck without turning body) c n
(307) # () S
(      mdpInfo::set_my_neck_intention\(NECK_INTENTION_LOOKINDIRECTION, target_dir\);) p n
(308) # (      mdpInfo::set_my_intention\(DECISION_TYPE_LOOKFORGOALIE, mdpInfo::opponent_goalpo) N
0 T (s\(\).x, ) N
(309) # () S 8 T () S 16 T () S 24 T () S 32 T (mdpInfo::opponent_goalpos\(\).y\);) N
(310) # () N
(311) # (      ) S
(// ridi03:todo) c n
(312) # () S
(      ) p
(//) c 16 T (return Move_Factory::get_Hold_Ball\(1\);) S 56 T () N
(313) # () S
(      LOG_ERR\(0,") p
(WBALL03: should hold ball and look; not yet implemented) str
("\);) p n
(314) # (      LOG_DAN\(0,") S
(WBALL03: should hold ball and look; not yet implemented) str
("\);) p n
(315) # (      intention.set_holdturn\(ANGLE\(target_dir\), WSinfo::ws->time\);) N
(316) # (      ) S
(return) K
( true;) p n
(317) # (    } ) S
(else) K
( {) p n
(318) # (      ) S
(// have to turn body.) c n
(319) # () S
(      LOG_DAN\(0, ") p
( have to turn body, but don't do it) str
("\);) p n
(320) # (      last_time_look_to_goal = -1;) N
(321) # (      ) S
(return) K
( false;) p n
(322) # (    }) N
(323) # (  }    ) N
(324) # (  LOG_DAN\(0, ") S
( shoot 2 goal - unsuccessful result ) str
("<<result\);    ) p n
(325) # (  ) S
(return) K
( false;) p n
(326) # (}) N
(327) # () N
(328) # () N
(329) # () S
(int) k
( Score::get_goalshot_chance\() p
(int) k
( &multi_step, Value &velocity, ) p n
(330) # () S 8 T () S 16 T () S 24 T () S 32 T () S 40 T (       Value &direction, Vector &target, ) S
(int) k
( ) p n
0 T (&best_index\) {) N
(331) # () N
(332) # (  ) S
(if) K
( \(WSinfo::me->pos.x < 15.0\) ) p
(return) K
( 0;) p n
(333) # () N
(334) # (  ) S
(if) K
( \( \(Tools::my_abs_angle_to\(Vector\(FIELD_BORDER_X, 0.0\)\).get_value\(\) > DEG2RAD\(83\)) p n
0 T (\) &&) N
(335) # (       \(Tools::my_abs_angle_to\(Vector\(FIELD_BORDER_X, 0.0\)\).get_value\(\) < DEG2RAD\(277) N
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0 T (\)\) &&) p n
(336) # (       fabs\(WSinfo::me->pos.y\) > 8.0\) {) N
(337) # (    ) S
(//LOG_DEB\(0, << "don't shoot, wrong angle"\);) c n
(338) # () S
(    ) p
(return) K
( 0;) p n
(339) # (  }) N
(340) # (  ) N
(341) # (  Vector test_targets[9];) N
(342) # (  Value test_dirs[9];) N