defbreakerplan.cpp

IRAN mesard_2d 2005源代码

/*
 *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET).
 *
 *  This program is free software, you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU Library General Public License for more details.
 *
 *  This file is created by: Sassan Haradji
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <BasicDash.h>
#include <AdvancedAgent.h>
#include <DefBreakerPlan.h>
#include <DribblePlan.h>
#include <SRPDribblePlan.h>
#include <Basics.h>
#include <Logger.h>
#include <cassert>

using namespace std;
using namespace Basics;

DefBreakerPlan::DefBreakerPlan(const WorldModel *wm, Form &form,
		const Library &library): Plan("DefBreaker", wm, form, library),
		srpDribblePlan(new SRPDribblePlan(wm, form, library)),
		passPlan(new PassPlan(wm, form, library, BPM_BREAKOFFSIDE + BPM_OFFENSE,
				BPN_ALL, -45, +45, -90, +90)),
		shootPlan(new ShootPlan(wm, form, library)),
		xInTwoLastCycle(0), xInLastCycle(0)
{
}

DefBreakerPlan::~DefBreakerPlan()
{
	delete srpDribblePlan;
	delete shootPlan;
	delete passPlan;
}

void DefBreakerPlan::decide()
{
	LOG << "DefBreakerPlan::decide" << endl;

	Plan::decide();
	
	bestPlan(3, false, srpDribblePlan, passPlan, shootPlan)->decide();

	LOG << "DefenseBreaker Plan WARNING!!! : "
			<< "All WithBall Plans Finished Without Return Any Command." << endl;
	LOG << "DefenseBreaker Plan : "
			<< "Now Run Dribble Plan Without Check SuccessRate or isFinished"
			<< "(Urgent State)." << endl;

	DribblePlan dribblePlan(wm, form, library);
	dribblePlan.decide();

	LOG << "DefBreakerPlan Now Kill Program" << endl;
	assert(0);
}

double DefBreakerPlan::successRate()
{
	if (!wm->isBallKickable()) return 0;
	return bestPlan(3, false, srpDribblePlan, passPlan,
			shootPlan)->successRate();// +
//			library.breakExperiment;
}

bool DefBreakerPlan::isFinished()
{
	if (!wm->isBallKickable()) return true;
	if (wm->getBody().getPos().getX() >= xInTwoLastCycle + 1)
		return false;
	xInTwoLastCycle = xInLastCycle;
	xInLastCycle = wm->getBody().getPos().getX();
//	if (finished == true && wm->getBody().getPos().getX() <
//			wm->getOppDefenseMedium().x + 3)
//		form.setBreakExperiment = library.breakExperiment - .002;
//	else
//		form.setBreakExperiment = library.breakExperiment + .01;
	return true;
}