movetoforwardplan.cpp

2006年世界杯足球赛2D仿真组第16名的源代码。在此代码上随便改改

/*
 *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET).
 *
 *  This program is free software, you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU Library General Public License for more details.
 *
 *  This file is created by: Sassan Haradji
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <cmath>
#include <AdvancedAgent.h>
#include <MoveToForwardPlan.h>
#include <DribblePlan.h>
#include <SRPDribblePlan.h>
#include <PassPlan.h>
#include <InterceptPlan.h>
#include <OffensePosPlan.h>
#include <Logger.h>
#include <Basics.h>

using namespace std;
using namespace Basics;

MoveToForwardPlan::MoveToForwardPlan(const WorldModel *wm, Form &form,
		const Library &library, float security):
		Plan("MoveToForward", wm, form, library), security(security)
{
}

MoveToForwardPlan::~MoveToForwardPlan()
{
}

void MoveToForwardPlan::decide()
{
	LOG << "MoveToForwardPlan::decide" << endl;

	Plan::decide();

	if (wm->isBallKickable())
	{
		vector<float> successRates;
		vector<Plan*> tempPlans;
		successRates.push_back(reRate(wm->getSecurityStatus(wm->getBody(), .55, .65),
				0, security * 3, 0, .13));
		LOG << "Dribble has " << wm->getSecurityStatus(wm->getBody(), .55, 65)
				<< " security" << endl;
		tempPlans.push_back(new DribblePlan(wm, form, library));
		successRates.push_back(reRate(wm->getSecurityStatus(wm->getBody(), .06, 1),
				0, security * 6, -.3, .00));
		LOG << "SRPDribble has " << wm->getSecurityStatus(wm->getBody(), .06, 1)
				<< " security" << endl;
		tempPlans.push_back(new SRPDribblePlan(wm, form, library));
		for (unsigned i = 2; i < 12; i++)
		{
			successRates.push_back(reRate(wm->getSecurityStatus(
					wm->getFullPlayer(TID_TEAMMATE, i - 1), .5, .5), 0,
					security * 3.5, 0, .1));
			if (i > 4 && i < 10)
				successRates[i] -= .02;
			tempPlans.push_back(new PassPlan(wm, form, library,
					BPM_SECUREBALL, i, -180, 180, -180, 180));
			LOG << "Secure Pass To Player " << i << " has "
					<< wm->getSecurityStatus(wm->getFullPlayer(TID_TEAMMATE, i - 1))
					<< " security" << endl;
		}
		for (unsigned i = 2; i < 12; i++)
		{
			successRates.push_back(reRate(wm->getSecurityStatus(
					wm->getFullPlayer(TID_TEAMMATE, i - 1), .35, .6), 0,
					security * 5, 0, .12));
			if (i > 4 && i < 10)
				successRates[i + 10] -= .07;
			tempPlans.push_back(new PassPlan(wm, form, library,
					BPM_OFFENSE, i, -180, 180, -180, 180));
			LOG << "Offense Pass To Player " << i << " has "
					<< wm->getSecurityStatus(wm->getFullPlayer(TID_TEAMMATE, i - 1))
					<< " security" << endl;
		}
		for (unsigned i = 2; i < 12; i++)
		{
			successRates.push_back(reRate(wm->getSecurityStatus(
					wm->getFullPlayer(TID_TEAMMATE, i - 1), .2, .6), 0,
					security * 7, 0, .09));
			if (i > 4 && i < 10)
				successRates[i + 20] -= .1;
			tempPlans.push_back(new PassPlan(wm, form, library,
					BPM_BREAKOFFSIDE, i, -180, 180, -180, 180));
			LOG << "BreakOffside Pass To Player " << i << " has "
					<< wm->getSecurityStatus(wm->getFullPlayer(TID_TEAMMATE, i - 1))
					<< " security" << endl;
		}

		Plan * bestPlan = NULL;
		double bestSuccessRate = .24;

		for (unsigned i = 0; i < tempPlans.size(); i++)
		{
			LOG << "Plan " << tempPlans[i]->getName() << " has "
					<< tempPlans[i]->successRate() + successRates[i] << " successRate"
					<< "(" << tempPlans[i]->successRate() << " real successRate, "
					<< successRates[i] << " added successRate)"
					<< endl;
			if (tempPlans[i]->successRate() + successRates[i] >
					bestSuccessRate || bestPlan == NULL)
			{
				bestPlan = tempPlans[i];
				bestSuccessRate = tempPlans[i]->successRate() + successRates[i];
			}
		}	

		Plan* j;
		for (vector<Plan*>::iterator i = tempPlans.begin(); i != tempPlans.end();)
		{
			j = *i;
			i++;
			if (bestPlan != j)
				delete j;
		}
		startPlan(bestPlan);

		LOG << name << " Plan WARNING!!! : "
				<< "All WithBall Plans Finished Without Return Any Command." << endl;
		LOG << name << " Plan : "
				<< "Now Run Dribble Plan Without Check SuccessRate or isFinished"
				<< "(Urgent State)." << endl;

		DribblePlan dribblePlan(wm, form, library);
		dribblePlan.decide();
	}
	else
	{
		if (library.gwSelection == WOBS_INTERCEPT)
			startPlan(new InterceptPlan(wm, form, library));
		startPlan(new OffensePosPlan(wm, form, library));
	}
}

double MoveToForwardPlan::successRate()
{
	return 1.0;
}

bool MoveToForwardPlan::isFinished()
{
	if (!wm->isBallKickable()) return false;

	vector<float> successRates;
	vector<Plan*> tempPlans;
	successRates.push_back(reRate(wm->getSecurityStatus(wm->getBody(), .55, .65),
			0, security * 3, 0, .13));
	tempPlans.push_back(new DribblePlan(wm, form, library));
	successRates.push_back(reRate(wm->getSecurityStatus(wm->getBody(), .06, .1),
			0, security * 5, -.03, .06));
	tempPlans.push_back(new SRPDribblePlan(wm, form, library));
		for (unsigned i = 2; i < 12; i++)
		{
			successRates.push_back(reRate(wm->getSecurityStatus(
					wm->getFullPlayer(TID_TEAMMATE, i - 1), .5, .5), 0,
					security * 3.5, 0, .1));
			if (i > 4 && i < 10)
				successRates[i] -= .02;
			tempPlans.push_back(new PassPlan(wm, form, library,
					BPM_SECUREBALL, i, -180, 180, -180, 180));
		}
		for (unsigned i = 2; i < 12; i++)
		{
			successRates.push_back(reRate(wm->getSecurityStatus(
					wm->getFullPlayer(TID_TEAMMATE, i - 1), .35, .6), 0,
					security * 5, 0, .12));
			if (i > 4 && i < 10)
				successRates[i + 10] -= .07;
			tempPlans.push_back(new PassPlan(wm, form, library,
					BPM_OFFENSE, i, -180, 180, -180, 180));
		}
		for (unsigned i = 2; i < 12; i++)
		{
			successRates.push_back(reRate(wm->getSecurityStatus(
					wm->getFullPlayer(TID_TEAMMATE, i - 1), .2, .6), 0,
					security * 7, 0, .09));
			if (i > 4 && i < 10)
				successRates[i + 20] -= .1;
			tempPlans.push_back(new PassPlan(wm, form, library,
					BPM_BREAKOFFSIDE, i, -180, 180, -180, 180));
		}

	Plan * bestPlan = NULL;
	double bestSuccessRate = .24;
	
	for (unsigned i = 0; i < tempPlans.size(); i++)
	{
		if (tempPlans[i]->successRate() + successRates[i] >
				bestSuccessRate || bestPlan == NULL)
		{
			bestPlan = tempPlans[i];
			bestSuccessRate = tempPlans[i]->successRate() + successRates[i];
		}
	}	

	bool finished = true;
	if (bestPlan != NULL)
		finished = false;
	Plan* j;

	for (vector<Plan*>::iterator i = tempPlans.begin(); i != tempPlans.end();)
	{
		j = *i;
		i++;
		delete j;
	}

	return finished;
}