waitplan.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 <AdvancedAgent.h>
#include <WaitPlan.h>
#include <DribblePlan.h>
#include <PassPlan.h>
#include <InterceptPlan.h>
#include <OffensePosPlan.h>
#include <Logger.h>
#include <Basics.h>
#include <cassert>

using namespace std;
using namespace Basics;

WaitPlan::WaitPlan(const WorldModel *wm, Form &form, const Library &library,
		Side side): Plan("Wait", wm, form, library), side(side),
		minSuccessRate(.24 + reRate(wm->getBody().getPos().getX(), 10, 40, 0, .03))
{
	switch (wm->getBody().getUniNum())
	{
	case 2:
		fPlayer = 10;
		bPlayer = 7;
		break;

	case 10:
		fPlayer = 2;
		bPlayer = 7;
		break;

	case 7:
		fPlayer = 2;
		bPlayer = 10;
		break;

	case 4:
		fPlayer = 11;
		bPlayer = 8;
		break;

	case 11:
		fPlayer = 4;
		bPlayer = 8;
		break;

	case 8:
		fPlayer = 4;
		bPlayer = 11;
		break;

	default:
		fPlayer = BPN_ALL;
		bPlayer = BPN_ALL;
	}
}

WaitPlan::~WaitPlan()
{
}

void WaitPlan::decide()
{
	if (side == SI_LEFT)
		LOG << "WaitPlan::decide (Side : Left)" << endl;
	else
		LOG << "WaitPlan::decide (Side : Right)" << endl;

	Plan::decide();

	if (wm->isBallKickable())
	{
		startPlan(bestPlan(2, true,
				new PassPlan(wm, form, library, BPM_SECUREBALL,
						fPlayer, -180, 180, -180, 180),
				new PassPlan(wm, form, library, BPM_SECUREBALL,
						bPlayer, -180, 180, -180, 180)), minSuccessRate);

		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));
	}
	
	LOG << "WaitPlan Now Kill Program" << endl;
	assert(0);
}

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

bool WaitPlan::isFinished()
{
	if (!wm->isBallKickable()) return false;
	Plan *tempPlan = bestPlan(2, true,
			new PassPlan(wm, form, library, BPM_SECUREBALL,
					fPlayer, -180, 180, -180, 180),
			new PassPlan(wm, form, library, BPM_SECUREBALL,
					bPlayer, -180, 180, -180, 180));
	bool finished = true;
	if (tempPlan->successRate() >= minSuccessRate)
		finished = false;
	delete tempPlan;
	return finished;
}