backplan.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 <BackPlan.h>
#include <PassPlan.h>
#include <DribblePlan.h>
#include <ShootToOutPlan.h>
#include <InterceptPlan.h>
#include <OffensePosPlan.h>
#include <Basics.h>
#include <Logger.h>
#include <cassert>

using namespace std;
using namespace Basics;

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

BackPlan::~BackPlan()
{
}

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

	Plan::decide();

	if (wm->isBallKickable())
	{
		// 1.Dribble With High SuccessRate:
		if (isInPlayers(wm->getBody().getUniNum(), "78AB"))
			startPlan(new DribblePlan(wm, form, library), .28);
		else
			startPlan(new DribblePlan(wm, form, library), .33);

		// 2.SecureBall Pass To Offense Or Forward_Middle Players:
		startPlan(bestPlan(6, true,
		new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE, 2, -180, 180, -180, 180),
		new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE, 3, -180, 180, -180, 180),
		new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE, 4, -180, 180, -180, 180),
		new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE, 10, -180, 180, -180, 180),
		new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE, 11, -180, 180, -180, 180),
		new DribblePlan(wm, form, library)),
		.24);

		// 3.SecureBall Pass To Back_Middle Players:
		startPlan(bestPlan(3, true,
		new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE, 7, -180, 180, -180, 180),
		new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE, 8, -180, 180, -180, 180),
		new DribblePlan(wm, form, library)),
		.25);

		// 4.Dribble:
		if (isInPlayers(wm->getBody().getUniNum(), "78AB"))
			startPlan(new DribblePlan(wm, form, library), .14);
		else
			startPlan(new DribblePlan(wm, form, library), .23);

		// 5.SecureBall Pass To Defense Players:
		startPlan(bestPlan(4, true,
		new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE, 5, -180, 180, -180, 180),
		new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE, 6, -180, 180, -180, 180),
		new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE, 9, -180, 180, -180, 180),
		new DribblePlan(wm, form, library)),
		.27);

		// 6.Dribble:
		if (isInPlayers(wm->getBody().getUniNum(), "78AB"))
			startPlan(new DribblePlan(wm, form, library), 0);
		else
			startPlan(new DribblePlan(wm, form, library), .1);

		// 7.Shoot To Out:
		startPlan(new ShootToOutPlan(wm, form, library), .3);

		LOG << "Back Plan WARNING!!! : "
				<< "All WithBall Plans Finished Without Return Any Command." << endl;
		LOG << "Back 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 << "BackPlan Now Kill Program" << endl;
	assert(0);
}

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

bool BackPlan::isFinished()
{
	if(isInPlayers(wm->getBody().getUniNum(), "6789") ||
			(isInPlayers(wm->getBody().getUniNum(), "5AB") &&
			wm->getBody().getPos().getX() < -20))
		return false;
	return true;
}