getcapability.cc

2007年机器人足球世界杯3D仿真组亚军于07年底的源程序。该队还于2008年获得伊朗公开赛的亚军。

#include "kickto.ih"

Behavior::ConfidenceInterval KickTo::getCapability(rf<State> s, rf<Goal> g)
{
  WorldModel& wm = WorldModel::getInstance();
  
  NormalDistribution3D BallInfo = wm.getObjectPosition(Types::BALL);
  Vector3D ballPosCar = BallInfo.getMu();
  double ballX = ballPosCar.getX();
  double ballY = ballPosCar.getY();
  //bool leftTouch = wm.getLeftTouch();
  //bool rightTouch = wm.getRightTouch();
  // Distance from foot to ball (not from camera)
  double distToBall = sqrt(ballX * ballX + ballY * ballY);
  
  if (d_curStep >= 2 && (ballX < 0 || ballX > 2.0 || fabs(ballY) > 1.0))
    return ConfidenceInterval(0.0, 0.0);
    
  return distToBall <= 7.5 ? ConfidenceInterval(0.5, 0.2) : ConfidenceInterval(0.0, 0.0);
}