generategoal.cc

来自「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」· CC 代码 · 共 28 行

#include "score.ih"

rf<Behavior::Goal> Score::generateGoal(unsigned step, unsigned slot)
{
  rf<Goal> goal = new Goal();
  rf<OrNode> dis = goal->addDisjunct();
  rf<AndNode> con = dis->addConjunct();
  
  WorldModel& wm = WorldModel::getInstance();
  
  Vector3D ballPos;
  
  switch (step)
  {
    case 0:
      ballPos = wm.getObjectPosition(Types::BALL).getMu();
      con->addVar("Pos", ballPos);
      break;
      
    case 1:
      break;
  }
  
  // con->addVar("Var", 0, 1);
  
  return goal;
}