run.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 29 行

#include "beam.ih"


using namespace bats;

bool Beam::run()
{
  _debugLevel4("Beam is being run!");
  //  Parser parser;

  _debugLevel4((rf_cast<StateVarNode>(d_goal->findDeep("X")) ? "got X" : "dont have X"));
  _debugLevel4((rf_cast<StateVarNode>(d_goal->findDeep("Y")) ? "got Y" : "dont have Y"));
  _debugLevel4((rf_cast<StateVarNode>(d_goal->findDeep("Z")) ? "got Z" : "dont have Z"));
  
  StateVar x = rf_cast<StateVarNode>(d_goal->findDeep("X"))->getVar();
  Range xrange = x.second;
  StateVar y = rf_cast<StateVarNode>(d_goal->findDeep("Y"))->getVar();
  Range yrange = y.second;
  StateVar z = rf_cast<StateVarNode>(d_goal->findDeep("Z"))->getVar();
  Range zrange = z.second;

  // This is faster than using the parser.
  d_action = new Cerebellum::BeamAction(Vector3D(xrange.mean(), yrange.mean(), zrange.mean()));

  addToActionCommandBehaviors();
  
  return true;
}