vsv.h

FIRA机器人足球比赛5V5仿真组的一般的防守策略

const double SPEED_ODD=0.662;	//0.338;左右轮速为0时的减速参数
const double SPEED_ZERO = 0.1896;	// 0 减速度 和 125减速度的临界值
const double CORNER=5;

void Goalie ( Environment *env, int robot,Vector3D pos);

void Goalie ( Environment *env, int robot );
void PenaltyGoalie ( Environment *env, Robot *robot );
void See ( Environment *env );
void End ( Environment *env );
void Action(Environment *env );
void PredictBall(Environment *env,int steps=1);
double Distance (Vector3D pos1,Vector3D pos2); //求两点之间的距离
void Nearbound( Environment *env, Robot* robot,Vector3D tag);//解决边界问题
void Penalty ( Environment *env );	//2人配合
void Penalty3 ( Environment *env );	//3无敌3人组
void AuntPenalty ( Environment *env );
int Count( Environment *env, int robot,Vector3D pos);
bool Within(Environment* env,int robot,double LENGTH);

void Bug ( Environment *env,const char* s ,double value );
void Bug ( Environment *env,double value );
void Bug ( Environment *env,const char* s );
void Order( Environment *env );
void oppOrder(Environment *env);
bool oppWithin(Environment* env,int robot,double LENGTH);
Vector3D PredictOpp(Environment *env,int robot,int steps);

void TEST( Environment *env);
void PositionAndStop(Environment *env,int  robot,Vector3D pos ,double bestangle=90,double limit=1);
void PositionAndStopX(Environment *env,int  robot,Vector3D pos ,double Xangle=90,double limit=2); 
void PositionBallX(Environment *env,int  robot,Vector3D pos ,double Xangle=90,double limit=3.5); 
void PositionAndThrough(Environment *env,int robot,Vector3D pos ,double MAX=125);		//
void GoaliePosition(Environment *env,int  robot,Vector3D pos ,double bestangle=90,double limit=1.5);
//Limit = 1.5 is ok!
void Kick(Environment *env , int  robot , Vector3D topos );
void Kick(Environment *env , int  robot ,int robot1);

int CheckBall(Environment *env);
int nearfield(Environment *env,int robot,double x,double y,double limit);
void Angle( Environment *env, int robot,double angle);
void Angle( Environment *env, int robot,Vector3D pos);
void PAngle( Environment *env, int robot,double angle,double speed=0);
void Velocity(Environment *env, int robot,double vl,double vr);
double AngleOne(double omiga,double vl,double vr);
Vector3D Meetball_p( Environment *env, int robot);
Vector3D Meetball_y( Environment *env,double X,double maxn=50);
Vector3D Meetball_x( Environment *env,double Y,double maxn=50);
inline double Atan(Vector3D begin,Vector3D end);


/// !!!!!!!speed 以和robot同向为正
double VelocityOne(double speed,double vl,double vr);		/// speed 以和robot同向为正

void RegulateAngle(double &angle);
int toint(double num);
double Atan(double y,double x);
double Atan(Vector3D begin,Vector3D end);
double Distance (Vector3D pos1,Vector3D pos2);
void CutBall2(Environment *env,int robot);//判断包抄
bool shoot1(Environment *env,int robot,int count);
void shoot(Environment *env,int robot);
void Kick(Environment *env,int robot,int steps,double limits);