humanoidagent.java

2004年robotcup世界冠军源代码

          if(rd.linesToTail()<=0) return notPassable;

      }
      else if(rd.tail()==(PointObject) from)
      {
          if(rd.linesToHead()<=0) return notPassable;
      }
      else
      {
            System.err.println(" Error in police_cost_function_move");
      }

        if(!rd.hasBeenSeen()){
            Path cpath = world.getCurrentPath();
            if(cpath != null){
                if(cpath.contains(rd)){
                    int timeInPath = self().getCyclesHaveBeenInPath(cpath,true);
                    timeInPath -= MRL.Police.PoliceConstantsAndConditions.CYCLES_TO_IGNORE_IF_WERE_IN_PATH_FOR_COST_FUNCTION;
                    if(timeInPath < 1)
                        timeInPath = 1;
                    c*= Math.pow(notSeenCoef, timeInPath);
                }
            }
            c*=notSeenC;
        }
        else if(rd.passableLinesFrom((PointObject)from)==0) c=hasBlocksC;
        if (trafficSet.contains(rd))
        {
            /*
            int count=0;
            int [] ph ;
            while((ph= self().getPositionHistory(time()-count)) != null && ph.length==1)
            {
                if( time()>count)
                {
                    count++;
                    c*= trafficCOEF;
                    if(MRL.MRLConstants.ROUTING_DEBUG_MODE) System.out.println( " Self id" + self().id + " count" + count + " Time " + time() + " ID motionless possition" + self().getPositionHistory(time())[0]+ " To ID" +to );
                }
                else break;

            }
            count=0;
            if(!(self().motionlessPosition() instanceof Building)){
                while((ph=self().getPositionHistory(time()-count)) ==null || ph.length==0 )
                {

                    if( time()>count)
                    {
                        count++;
                        c*= trafficCOEF;
                        if(MRL.MRLConstants.ROUTING_DEBUG_MODE) System.out.println( " Self id" + self().id + " count" + count + " Time " + time() + " No Position" );

                    }
                    else break;

                }

            }

            */
            // SHAYAD Ye Police Yek Cycle Yekja Act Submit Karde Bashe Va PH Esh 0 Bashe , Va Oonam Jozve Traffic Hesab Mishe , Daghigh Nist .

//            c*=trafficC;
                int stuckCycles =self().getStuckCycles() , timeInPath , res;
                Path cPath = world.getCurrentPath();
                if(cPath != null){
                    timeInPath = self().getCyclesHaveBeenInPath(cPath,true);
                    res = Util.max(stuckCycles,timeInPath);
                    c*= Math.pow(trafficCoef,res);
                }
                else
                    c*= Math.pow(trafficCoef,stuckCycles);
        }

        c*= rd.length();

      return c;
    }
  };

  public static final Router.CostFunction CLEARING_COST_FUNCTION // Connected Roads Ro Vardashtam!
      = new Router.CostFunction() {
        final float WEIGHT = Integer.MAX_VALUE;
        final float notPassableC = WEIGHT;
    public float cost(MotionlessObject from, MotionlessObject to) {
      float c = 1f;
      if (! (to instanceof Road))
      {
          if(to instanceof Node)
          {
              if(from instanceof Road)
              {
                  if(to==(((Road)from).head()) && ((Road)from).linesToHead()<=0)
                    return notPassableC;
                  else if(to==(((Road)from).tail()) && ((Road)from).linesToTail()<=0 )
                    return notPassableC;
              }

          }
          return c;
      }
      Road rd = (Road) to;
      if(rd.head()==(PointObject) from)
      {
          if(rd.linesToHead()<=0) return notPassableC;

      }
      else if(rd.tail()==(PointObject) from)
      {
          if(rd.linesToTail()<=0) return notPassableC;
      }
      else
      {
            System.out.println(" Error in police_cost_function_move");
      }
      c*= rd.length();
      return c;
    }
  };
    public final Router.CostFunction MOVING_COST_FUNCTION = new Router.CostFunction(){
        final boolean isPolice = world.self instanceof PoliceForce;
        public float cost(MotionlessObject from, MotionlessObject to) {
            if(isPolice){
                return POLICE_COST_FUNCTION_MOVE.cost(from,to);
            }
            else{
                return TRAFFIC_MOVING_COST_FUNCTION.cost(from,to);
            }
        }
    };
     //not check for cycle in trrafic
    public final Router.CostFunction TRAFFIC_MOVING_COST_FUNCTION
      = new Router.CostFunction() {
       final float WEIGHT = (float) Integer.MAX_VALUE;
        final float trafficC = 10f;
        final float notSeenC = 3f;
        final float notPassableC = WEIGHT;
        final float oneWayNotSeenC = WEIGHT/2;
        final float oneWayHasBlocksC = WEIGHT;
        final float hasBlocksC = WEIGHT;
        final Set trafficSet = world.inTraffic;
        final boolean bpol = world.self instanceof PoliceForce;
    public float cost(MotionlessObject from, MotionlessObject to) {
      float c = 1;
      if (! (to instanceof Road))
      {
          if(to instanceof Node)
          {
              if(from instanceof Road)
              {
                  if(to==(((Road)from).head()) && ((Road)from).linesToHead()<=0)
                  {
                    return notPassableC;
                  }
                  else if(to==(((Road)from).tail()) && ((Road)from).linesToTail()<=0 )
                  {
                    return notPassableC;
                  }
                  else if(((Road)from).linesToHead()<=0 || ((Road)from).linesToTail()<=0)
                  {
                    if (!((Road)from).hasBeenSeen())
                        return oneWayNotSeenC;
                    else if (((Road)from).passableLinesTo((PointObject)to) <= 0)
                        return oneWayHasBlocksC;
                  }

              }

          }
          return c;
      }
      Road rd = (Road) to;
      if(rd.head()==(PointObject) from)
      {
          if(rd.linesToTail()<=0) return notPassableC;
          else if (rd.linesToHead()<=0)
          {
              if (!(rd.hasBeenSeen()))
                 return oneWayNotSeenC;
              else if(rd.passableLinesFrom((PointObject)from) <=0)
                 return oneWayHasBlocksC;

          }

      }
      else if(rd.tail()==(PointObject) from)
      {
          if(rd.linesToHead()<=0) return notPassableC;
          else if (rd.linesToTail()<=0)
          {
              if (!(rd.hasBeenSeen()))
                 return oneWayNotSeenC;
              else if(rd.passableLinesFrom((PointObject)from) <=0)
                 return oneWayHasBlocksC;

          }
      }

      c*= rd.length();

      if(NOT_PASSABLE_C.eval(rd)) //rd.passableLinesFrom((PointObject)from) == 0
        return c*hasBlocksC;
      if(trafficSet.contains(rd)) {
//        return c*trafficC;
           int stuckCycles =self().getStuckCycles() , timeInPath , res;
                Path cPath = world.getCurrentPath();
                if(cPath != null){
                    timeInPath = self().getCyclesHaveBeenInPath(cPath,false);
                    res = Util.max(stuckCycles,timeInPath);
                    c*= Math.pow(trafficC,res);
                }
                else
                    c*= Math.pow(trafficC,stuckCycles);
//          return  c* (float)Math.pow(trafficC , self().getStuckCycles());
      }
      if(rd.hasBeenSeen()) return c;

      return c * notSeenC  ;
    }
  };

        public Route getRouteFromCurrentPos(Collection destinations,Router.CostFunction cf){
        MotionlessObject pos = self().motionlessPosition();
        Route res;
        if (! (pos instanceof Road) ||PASSABLE_C.eval(pos)){ // POS //  ( (Road) pos).passableLines() >= 1
          res = Router.get(pos, destinations, cf);
        }
        else{ // OP
          res = Router.get(outsidePosition(), destinations, cf);
        }
        modifyOriginToCurrentPosition(res);
        return res;
    }

    public Route getRouteFromCurrentPos(MotionlessObject mo,Router.CostFunction cf){
        return getRouteFromCurrentPos(Collections.singleton(mo),cf);
    }
}