think.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 "humanoidbat.ih"



void HumanoidBat::think()
{
  d_fitness->update();
  d_fitness->print();

  
  Behavior::clearActionCommandBehaviors();
  
  _debugLevel3("Running behaviors");
  mvds::TimeVal t0 = mvds::TimeVal::getTimeOfDay();
  
  rf<Behavior> win = Behavior::getWin();
  
  if (!win)
  {
    _debugLevel1("No win behavior!");
  }
  else
  {
    _debugLevel3("Setting goal");
    win->update();
    win->setGoal(new Behavior::Goal);
    _debugLevel3("Achieving goal " << win->ident());
    if (!(win->achieveGoal()))
      _debugLevel1("Win behavior was unable to achieve goal!");
    else
      _debugLevel3("Win behavior achieved goal!");
  }

      
             
  /* ---------------- Collect action commands and send them to the server ------------*/
            
  //if (wm.shouldSendAction())
  //{
    _debugLevel3("Send action commands");
    
    _debugLevel1("FootForce: " << WorldModel::getInstance().getForceLeftFoot().length() << ", " << WorldModel::getInstance().getForceRightFoot().length());
    
    Cerebellum& cer = Cerebellum::getInstance();
    
    set<rf<Behavior> > acBehaviors = Behavior::getActionCommandBehaviors();
    _debugLevel4("Nr of action behaviors: " << acBehaviors.size());
    for (set<rf<Behavior> >::iterator iter = acBehaviors.begin(); iter != acBehaviors.end(); ++iter)
    {
    	cer.addAction((*iter)->getAction());
    }
    
    cer.outputCommands(d_comm);
  //}
  
  // Agent::run sends done thinking
}