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 "beamto.ih"

Behavior::ConfidenceInterval BeamTo::getCapability(rf<State> s, rf<Goal> g)
{
	WorldModel& wm = WorldModel::getInstance();
	
  WorldModel::PlayMode pm = wm.getPlayMode();   

  _debugLevel4("PlayMode: " << pm);
  // If we aren't in BEFORE_KICKOFF, our capability is -1.0 with infinite confidence
  if (pm != WorldModel::BEFORE_KICKOFF && pm != WorldModel::GOAL_US && pm != WorldModel::GOAL_THEM)
    return ConfidenceInterval(-1.0, 0.0);
  
  // Else we can certainly do it
  return ConfidenceInterval(1.0, 0.0);

}