basicplayer.cpp

2003年RoboCup仿真组世界冠军源代码 足球机器人 仿真组 的源代码

/*
Copyright (c) 2000-2003, Jelle Kok, University of Amsterdam
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.

3. Neither the name of the University of Amsterdam nor the names of its
contributors may be used to endorse or promote products derived from this
software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

/*! \file BasicPlayer.cpp
<pre>
<b>File:</b>          BasicPlayer.cpp
<b>Project:</b>       Robocup Soccer Simulation Team: UvA Trilearn
<b>Authors:</b>       Jelle Kok
<b>Created:</b>       10/12/2000
<b>Last Revision:</b> $ID$
<b>Contents:</b>      This file contains the class declaration for the
               BasicPlayer. The BasicPlayer is the class where the
               available skills for the agent are defined.
<hr size=2>
<h2><b>Changes</b></h2>
<b>Date</b>             <b>Author</b>          <b>Comment</b>:
10/12/2000       Jelle Kok       Initial version created
</pre>
*/

#include "BasicPlayer.h"
#include "Parse.h"        // parseFirstInt

/********************** LOW-LEVEL SKILLS *************************************/

/*! This skill enables an agent to align his neck with his body. It returns a
    turn neck command that takes the angle of the agent's body relative to his
    neck as its only argument.
   \return SoccerCommand turn_neck command that aligns neck with body */
SoccerCommand BasicPlayer::alignNeckWithBody( )
{
  return SoccerCommand( CMD_TURNNECK, WM->getAgentBodyAngleRelToNeck( ) );
}

/*! This skill enables an agent to turn his body towards a given point. It
    receives a global position 'pos' on the field and returns a turn command
    that will turn the agent's body towards this point. To this end the agent's
    global position in the next cycle is predicted based on his current
    velocity. This is done to compensate for the fact that the remaining
    velocity will move the agent to another position in the next cycle. The
    global angle between the given position and the predicted position is then
    determined after which the agent's global body direction is subtracted from
    this angle in order to make it relative to the agent's body. Finally,
    the resulting angle is normalized and adjusted to compensate for the
    inertia moment and speed of the agent. If it is impossible to turn towards
    the given position in a single cycle then the agent turns as far as
    possible.
    \param pos position to which body should be turned
    \param iCycles denotes the number of cycles that are used to update the
               the agent position. The resulting position is compared with
               'pos' to determine the desired turning angle.
    \return SoccerCommand turn command to turn body to the desired point */
SoccerCommand BasicPlayer::turnBodyToPoint( VecPosition pos, int iCycles )
{
  VecPosition posGlobal = WM->predictAgentPos(iCycles, 0);
  AngDeg angTurn        = (pos - posGlobal).getDirection();
  angTurn              -= WM->getAgentGlobalBodyAngle();
  angTurn               = VecPosition::normalizeAngle( angTurn );
  angTurn               = WM->getAngleForTurn( angTurn, WM->getAgentSpeed(),
                                               WM->getAgentObjectType() );

  return SoccerCommand( CMD_TURN, angTurn );
}

/*! This skill enables an agent to turn his back towards a given point 'pos'.
    The only difference between this skill and turnBodyToPoint is that the
    angle between the given position and the predicted position of the agent
    in the next cycle is now made relative to the back of the agent by
    subtracting the agent's global back direction. This skill can for example
    be used by the goalkeeper in case he wants to move back to his goal while
    keeping sight of the rest of the field.
    \param pos position to which the agent's back should be turned
    \param iCycles denotes the number of cycles that are used to update the
               the agent position. The resulting position is compared with
               'pos' to determine the desired turning angle.
    \return SoccerCommand command to turn agent's back to the desired point */
SoccerCommand BasicPlayer::turnBackToPoint( VecPosition pos, int iCycles )
{
  VecPosition posGlobal = WM->predictAgentPos(iCycles, 0);
  AngDeg angTurn        = (pos - posGlobal).getDirection();
  angTurn              -= (WM->getAgentGlobalBodyAngle() + 180);
  angTurn               = VecPosition::normalizeAngle( angTurn );
  angTurn               = WM->getAngleForTurn( angTurn, WM->getAgentSpeed(),
                                               WM->getAgentObjectType() );

  return SoccerCommand( CMD_TURN, angTurn );
}

/*! This skill enables an agent to turn his neck towards a given point. It
    receives a global position 'pos' on the field as well as a primary action
    command 'soc' that will be executed by the agent at the end of the current
    cycle and returns a turn neck command that will turn the agent's neck
    towards 'pos'. To this end the agent's global position and neck direction
    after executing the cmd command are predicted using methods from the world
    model. The global angle between the given position and the predicted
    position is then determined after which the predicted neck direction is
    subtracted from this angle in order to make it relative to the agent's
    neck. Finally, the resulting angle is normalized and directly passed as an
    argument to the turn neck command since the actual angle with which a
    player turns his neck is by definition equal to this argument.
    If the resulting turn angle causes the absolute angle between
    the agent's neck and body to exceed the maximum value, then the agent turns
    his neck as far as possible. Note that it is necessary to supply the
    selected primary command as an argument to this skill, since a turn neck
    command can be executed in the same cycle as a kick, dash, turn , move
    or catch command.
   \param pos position to which neck should be turned
   \param soc SoccerCommand that is executed in the same cycle
   \return SoccerCommand turn command to turn neck to the desired point */
SoccerCommand BasicPlayer::turnNeckToPoint(VecPosition pos, SoccerCommand soc)
{
  VecPosition posMe,   velMe;
  AngDeg      angBody, angNeck, angActual;
  Stamina     sta;

  // predict agent information after command 'soc' is performed
  // calculate the desired global angle of the neck
  // calculate the desired angle of the neck relative to the body
  WM->predictAgentStateAfterCommand(soc,&posMe,&velMe,&angBody,&angNeck,&sta);
  AngDeg angDesGlobNeck  = (pos - posMe).getDirection();
  AngDeg angNeckRelToBody= VecPosition::normalizeAngle(angDesGlobNeck-angBody);

  // calculate the current angle of the body relative to the neck
  // check if the desired neck angle relative to the body is possible:
  // if angle is smaller than the minimum or larger than the maximum neck angle
  //  turn neck to the minimum or maximum neck angle + the current neck angle
  // else calculate the desired angle relative to the body
  AngDeg angBodyRelToNeck = VecPosition::normalizeAngle(angBody-angNeck);
  if( angNeckRelToBody < SS->getMinNeckAng() )
    angActual = SS->getMinNeckAng() + angBodyRelToNeck;
  else if( angNeckRelToBody > SS->getMaxNeckAng() )
    angActual = SS->getMaxNeckAng() + angBodyRelToNeck;
  else
    angActual = angNeckRelToBody + angBodyRelToNeck;
  return SoccerCommand( CMD_TURNNECK, angActual );
}

/*! This skill enables an agent to search for the ball when he cannot see it.
    It returns a turn command that causes the agent to turn his body by an
    angle that equals the width of his current view cone (denoted by the
    ViewAngle attribute in the AgentObject class). In this way the agent will
    see an entirely different part of the field after the turn which maximizes
    the chance that he will see the ball in the next cycle. Note that the
    agent turns towards the direction in which the ball was last observed to
    avoid turning back and forth without ever seeing the ball. Furthermore
    the inertia moment of the agent is taken into account to compensate for
    the current speed of the agent.
    \return SoccerCommand that searches for the ball. */
SoccerCommand BasicPlayer::searchBall()
{
  static Time   timeLastSearch;
  static SoccerCommand soc;
  static int    iSign       = 1;
  VecPosition   posBall =WM->getBallPos();
  VecPosition   posAgent=WM->getAgentGlobalPosition();
  AngDeg        angBall =(posBall-WM->getAgentGlobalPosition()).getDirection();
  AngDeg        angBody =WM->getAgentGlobalBodyAngle();

  if( WM->getCurrentTime().getTime() == timeLastSearch.getTime()  )
    return soc;

  if( WM->getCurrentTime() - timeLastSearch > 3 )
    iSign = ( isAngInInterval( angBall, angBody, 
			       VecPosition::normalizeAngle(angBody+180) ) ) 
      ? 1
      : -1  ;
   
  //  if( iSign == -1 )
  // angBall = VecPosition::normalizeAngle( angBall + 180 );
  
  soc = turnBodyToPoint( posAgent + VecPosition(1.0,
		VecPosition::normalizeAngle(angBody+60*iSign), POLAR ) );
  Log.log( 556, "search ball: turn to %f s %d t(%d %d) %f", angBall, iSign,
           WM->getCurrentTime().getTime(), timeLastSearch.getTime(),
	   soc.dAngle );
  timeLastSearch = WM->getCurrentTime();
  return soc;
}


/*! This method can be called to create a SoccerCommand that dashes to
    a point.  This skill enables an agent to dash to a given point. It
    receives a global position 'pos' as its only argument and returns
    a dash command that causes the agent to come as close to this
    point as possible. Since the agent can only move forwards or
    backwards, the closest point to the target position that he can
    reach by dashing is the orthogonal projection of 'pos' onto the
    line that extends into the direction of his body (forwards and
    backwards).  The power that must be supplied to the dash command
    is computed using the 'getPowerForDash' method which takes the
    position of 'pos' relative to the agent as input and 'iCycles'
    which denotes in how many cycles we want to reach that point.
    \param pos global position to which the agent wants to dash
    \param iCycles desired number of cycles to reach point 'pos' 
    \return SoccerCommand dash command to move closer to 'pos' */
SoccerCommand BasicPlayer::dashToPoint( VecPosition pos, int iCycles )
{
  double dDashPower = WM->getPowerForDash(
                                 pos - WM->getAgentGlobalPosition(),
                                 WM->getAgentGlobalBodyAngle(),
                                 WM->getAgentGlobalVelocity(),
                                 WM->getAgentEffort(),
                                 iCycles                              );
  return SoccerCommand( CMD_DASH, dDashPower );
}

/*! This skill enables an agent to freeze a moving ball, i.e. it returns a kick
    command that stops the ball dead at its current position. Since ball
    movement in the soccer server is implemented as a vector addition, the ball
    will stop in the next cycle when it is kicked in such a way that the
    resulting acceleration vector has the same length and opposite direction to
    the current ball velocity. The desired speed that should be given to the
    ball on the kick thus equals the current ball speed. Furthermore, the
    direction of the kick should equal the direction of the current ball
    velocity plus 180 degrees. Note that this direction must be made relative
    to the agent's global body angle before it can be passed as an argument to
    the kick command.
    \return SoccerCommand to freeze the ball. */
SoccerCommand BasicPlayer::freezeBall( )
{
  // determine power needed to kick the ball to compensate for current speed
  // get opposite direction (current direction + 180) relative to body
  // and make the kick command.
  VecPosition posAgentPred = WM->predictAgentPos( 1, 0 );

  double dPower = WM->getKickPowerForSpeed( WM->getBallSpeed() );
  if( dPower > SS->getMaxPower() )
  {
    Log.log( 552, "%d: freeze ball has to much power", WM->getCurrentCycle() );
    dPower = (double)SS->getMaxPower();
  }
  double dAngle = WM->getBallDirection() + 180 - WM->getAgentGlobalBodyAngle();
  dAngle        = VecPosition::normalizeAngle( dAngle );
  SoccerCommand soc( CMD_KICK, dPower, dAngle );
  VecPosition posBall, velBall;
  WM->predictBallInfoAfterCommand( soc, &posBall, &velBall );
  if( posBall.getDistanceTo( posAgentPred ) < 0.8 * SS->getMaximalKickDist() )
    return soc;
  Log.log( 101, "freeze ball will end up oustide -> accelerate" );
  posBall = WM->getBallPos();
  // kick ball to position inside to compensate when agent is moving
  VecPosition posTo   = posAgentPred +