forwardplan.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 <BasicDash.h>
#include <AdvancedAgent.h>
#include <ForwardPlan.h>
#include <DefBreakerPlan.h>
#include <MoveToForwardPlan.h>
#include <WaitPlan.h>
#include <GotoSidePlan.h>
#include <DribblePlan.h>
#include <Logger.h>
#include <Basics.h>
#include <cassert>

using namespace std;
using namespace Basics;

ForwardPlan::ForwardPlan(const WorldModel *wm, Form &form,
		const Library &library): Plan("Forward", wm, form, library)
{
}

ForwardPlan::~ForwardPlan()
{
}

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

	string hearString = wm->getHearedPlanInfo();

	if (hearString == "XGSPL" && library.gwSelection == WOBS_INTERCEPT) 
		if (isInPlayers(wm->getBody().getUniNum(), "5234B"))
			startPlan(new GotoSidePlan(wm, form, library, SI_LEFT));

	if (hearString == "XGSPR" && library.gwSelection == WOBS_INTERCEPT) 
		if (isInPlayers(wm->getBody().getUniNum(), "5234A"))
			startPlan(new GotoSidePlan(wm, form, library, SI_RIGHT));

/*	if (!subPlans.empty())
		if (subPlans.top()->getName() != "DefBreaker" && wm->isBallKickable())
			if (isInPlayers(wm->getBody().getUniNum(), "AB"))
				startPlan(new DefBreakerPlan(wm, form, library), .32);
			else if (isInPlayers(wm->getBody().getUniNum(), "234"))
				startPlan(new DefBreakerPlan(wm, form, library), .34);
			else if (isInPlayers(wm->getBody().getUniNum(), "78"))
				startPlan(new DefBreakerPlan(wm, form, library), .4);*/

	Plan::decide();

	startPlan(new MoveToForwardPlan(wm, form, library, 3.5));
	int uniNum = wm->getBody().getUniNum();
	if (isInPlayers(uniNum, "35"))
		uniNum = (wm->getBody().getPos().getY() > 0)?4:2;
	switch (uniNum)
	{
	case 2:	case 10:
		startPlan(new WaitPlan(wm, form, library, SI_LEFT));
		startPlan(new GotoSidePlan(wm, form, library, SI_RIGHT));
		break;
		
	case 4:  case 11:
		startPlan(new WaitPlan(wm, form, library, SI_RIGHT));
		startPlan(new GotoSidePlan(wm, form, library, SI_LEFT));
		break;
	}
	startPlan(new MoveToForwardPlan(wm, form, library, 2.2));
	startPlan(bestPlan(2, true,
			new PassPlan(wm, form, library, BPM_ALL, BPN_ALL,
					-180, 180, -180, 180),
			new DribblePlan(wm, form, library)));

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

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

bool ForwardPlan::isFinished()
{
	if(isInPlayers(wm->getBody().getUniNum(), "234") ||
			(isInPlayers(wm->getBody().getUniNum(), "5AB") &&
			wm->getBody().getPos().getX() >= -20))
		return false;
	return true;
}