score_bms.c.p~

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

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(1) # (#include) K
( ") p
(score_bms.h) str
(") p n
(2) # () S
(#include) K
( ") p
(ws_info.h) str
(") p n
(3) # () S
(#include) K
( ") p
(mdp_info.h) str
(") p n
(4) # () S
(#include) K
( ") p
(oneortwo_step_kick_bms.h) str
(") p n
(5) # () N
(6) # () N
(7) # () S
(#if) K
( 1) p n
(8) # () S
(#define) K
( BASELEVEL 0 ) p
(// level for logging; should be 3 for quasi non-logging) c n
(9) # (//#define LOG_DAN\(YYY,XXX\) LOG_DEB\(YYY,XXX\)) N
(10) # () S
(#define) K
( LOG_DAN\(YYY,XXX\)) p n
(11) # () S
(#else) K n
(12) # (#define) S
( BASELEVEL 3 ) p
(// level for logging; should be 3 for quasi non-logging) c n
(13) # () S
(#define) K
( LOG_DAN\(YYY,XXX\)) p n
(14) # () S
(#endif) K n
(15) # () N
(16) # () N
(17) # () S
(bool Score::initialized = false;) p n
(18) # () N
(19) # (Score::Score\(\) {) N
(20) # (  last_time_look_to_goal = -1;) N
(21) # (  goalshot_param1 = 0.3;) N
(22) # (  goalshot_mode = 0;   ) S
(//standard goalshot) c n
(23) # () S
(  nr_of_looks_to_goal = -1;  ) p n
(24) # () N
(25) # (  ValueParser vp\(CommandLineOptions::policy_conf,") S
(score_bms) str
("\);) p n
(26) # (  vp.get\(") S
(goalshot_param1) str
(", goalshot_param1\);) p n
(27) # (  vp.get\(") S
(goalshot_mode) str
(", goalshot_mode\);) p n
(28) # () N
(29) # (  oneortwo = new OneOrTwoStepKick\(\);) N
(30) # (}) N
(31) # () N
(32) # (Score::~Score\(\) {) N
(33) # (  delete oneortwo;) N
(34) # (}) N
(35) # () N
(36) # (bool Score::get_cmd\(Cmd &cmd\) {) N
(37) # (  ) S
(/*) c n
(38) # (  Intention intention;) N
(39) # (  Value speed;) N
(40) # (  Vector target;) N
(41) # () N
(42) # (  if \(test_shoot2goal\(intention\)\) {) N
(43) # (    speed = intention.kick_speed;) N
(44) # (    target = intention.kick_target;) N
(45) # (    mdpInfo::set_my_intention\(DECISION_TYPE_SCORE, speed, 0, target.x, target.y,0\);) N
(46) # (    LOG_POL\(BASELEVEL,<<"Score get_cmd: try to score w speed "<<speed<<" to target "<<targ) N
0 T (et\);) N
(47) # (    neurokick->kick_to_pos_with_initial_vel\(speed,target\);) N
(48) # (    neurokick->get_cmd\(cmd\);) N
(49) # (    return true;) N
(50) # (  } else {) N
(51) # (    return false;) N
(52) # (  }) N
(53) # (  */) N
(54) # () S
(}) p n
(55) # () N
(56) # (bool Score::test_shoot2goal\(Intention &intention\) {) N
(57) # (  ) S
(int) k
( multi_step;) p n
(58) # (  Value velocity, direction;) N
(59) # (  Vector target;) N
(60) # (  ) S
(int) k
( best_index;) p n
(61) # () N
(62) # (  ) S
(int) k
( result = get_goalshot_chance\(multi_step, velocity, direction, target, best_index\);) p n
(63) # () N
(64) # (  Value target_dir = \(mdpInfo::opponent_goalpos\(\)-WSinfo::me->pos\).arg\(\);) N
(65) # () N
(66) # (  risky_goalshot_possible = 0;) N
(67) # () N
(68) # () N
(69) # () N
(70) # (  ) S
(if) K
(\(goalshot_mode == 0\){) p n
(71) # (    ) S
(if) K
( \(result == 4\) result = 1;) p n
(72) # (  }) N
(73) # (  ) S
(else) K
({) p n
(score_bms.c) (Page 1/15) (Apr 15, 05 17:26) title
border
/v 1 store
/x0 x v get 2.839212 add sx cw mul add store
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x0 y0 moveto
(74) # (    ) p
(if) K
( \(result == 4\)) p n
(75) # (      LOG_ERR\(0,") S
(Goalshot risky, continue planning) str
("\);) p n
(76) # (  }) N
(77) # (  ) N
(78) # (  ) S
(if) K
( \(result == 0\) {) p n
(79) # (    LOG_DAN\(BASELEVEL,") S
(no goalshot found) str
("\);) p n
(80) # (    ) S
(//no shot found) c n
(81) # () S
(    ) p
(return) K
( false;) p n
(82) # () N
(83) # (  } ) S
(else) K
( ) p
(if) K
( \(result == 1\) {) p n
(84) # () N
(85) # (    ) S
(//secure shot) c n
(86) # () S
(    ) p
(if) K
( \(multi_step\) {) p n
(87) # (      LOG_DAN\(0, << ") S
(shoot with neuro_kick2! velocity = ) str
(" << velocity ) p n
(88) # () S 8 T (      << ") S
( target.x = ) str
(" << target.x << ") p
( target.y = ) str
(" << target.y\);) p n
(89) # (      mdpInfo::set_my_neck_intention\(NECK_INTENTION_LOOKINDIRECTION, target_dir\);) S
(//directi) c n
0 T (on\);) N
(90) # () S
(      ) p
(//set_aaction_score\(aaction, target, velocity\);) c n
(91) # () S
(      intention.set_score\(target, velocity, WSinfo::ws->time\);) p n
(92) # (      ) S
(return) K
( true;) p n
(93) # (      ) S
(//return Move_Factory::get_1or2_Step_Kick\(velocity, target\);) c n
(94) # () S
(    } ) p
(else) K
( {) p n
(95) # (      LOG_DAN\(0, << ") S
(shoot with one step kick! velocity = ) str
(" << velocity ) p n
(96) # () S 8 T (         << ") S
( dir = ) str
(" << direction\);) p n
(97) # (      intention.set_score\(target, velocity, WSinfo::ws->time\);) N
(98) # (      ) S
(return) K
( true;) p n
(99) # (      ) S
(//      return Move_Factory::get_1Step_Kick\(velocity, direction\);) c n
(100) # () S
(    }) p n
(101) # () N
(102) # (  } ) S
(else) K
( ) p
(if) K
( \(result == 2\) {) p n
(103) # () N
(104) # (    ) S
(//risky because of goalie_age?) c n
(105) # () S
(    ) p
(if) K
( \(\(mdpInfo::opponent_goalpos\(\) - WSinfo::me->pos\).norm\(\) > 30.0\) {) p n
(106) # (      LOG_DAN\(BASELEVEL,") S
(result 2 and too far away) str
("\);) p n
(107) # (      ) S
(return) K
( false;) p n
(108) # (    }) N
(109) # () N
(110) # () S
(#if) K
( 0 ) p
(// ridi 22.6.03 : replaced by new access to goalie) c n
(111) # () S
(    WSpset alive_opps = WSinfo::alive_opponents;) p n
(112) # (    PPlayer goalie = alive_opps.get_player_by_number\(WSinfo::ws->his_goalie_number\);) N
(113) # () S
(#endif) K n
(114) # () S
(    PPlayer goalie;) p n
(115) # (    ) S
(if) K
(\(WSinfo::his_goalie\)) p n
(116) # (      goalie = WSinfo::his_goalie;) N
(117) # (    ) S
(else) K n
(118) # () S
(      ) p
(return) K
( false;) p n
(119) # (    ) S
(//if \(goalie == NULL\) return false;) c n
(120) # () S
(    WSpset pset_tmp = WSinfo::valid_opponents;) p n
(121) # (    pset_tmp.keep_players_in_circle\(WSinfo::me->pos, 3.0\);) N
(122) # (    ) S
(if) K
( \(pset_tmp.num > 0\) {) p n