getcapability.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 43 行

#include "beam.ih"

Behavior::ConfidenceInterval Beam::getCapability(rf<Behavior::State> s, rf<Behavior::Goal> g)
{
  /*_debugLevel4("Beam::getCapability");

  rf<StateVarNode> gameStateNode, xNode;
  
  gameStateNode = rf_cast<StateVarNode>(s->findDeep("GameState"));
  
  if(!gameStateNode)
  {
    _debugLevel1("Beam doesn't understand state!");
    return ConfidenceInterval(-1.0, 0.0);
  }
      
  StateVar gameState = gameStateNode->getVar();
  
  // If we aren't in BEFORE_KICKOFF, our capability is -1.0 with infinite confidence
  if ((int)gameState.second.first != WorldModel::BEFORE_KICKOFF)
    return ConfidenceInterval(-1.0, 0.0);
  
  if (!(xNode = rf_cast<StateVarNode>(g->findDeep("X"))))
  {
    _debugLevel1("Beam doesn't understand goal!");
    return ConfidenceInterval(-1.0, 0.0);
  }
    
  StateVar x = xNode->getVar();
  Range xRange = x.second;
  
  double xTarget = (xRange.first + xRange.second) / 2.0;
  
  // If we want to beam to a position on other side of the field, we can't do it either
  if (xTarget > 0)
    return ConfidenceInterval(-1.0, 0.0);
  
  // Else we can certainly do it
  return ConfidenceInterval(1.0, 0.0);*/
  
  return ConfidenceInterval(1.0, 0.0);
}