middleplan.cpp

来自「IRAN mesard_2d 2005源代码」· C++ 代码 · 共 96 行

/*
 *  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 <MiddlePlan.h>
#include <DribblePlan.h>
#include <SRPDribblePlan.h>
#include <InterceptPlan.h>
#include <OffensePosPlan.h>
#include <PassPlan.h>
#include <Basics.h>
#include <Logger.h>
#include <cassert>

using namespace std;
using namespace Basics;

MiddlePlan::MiddlePlan(const WorldModel *wm, Form &form,
		const Library &library): Plan("Middle", wm, form, library)
{
}

MiddlePlan::~MiddlePlan()
{
}

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

	Plan::decide();

	if (wm->isBallKickable())
	{
/*		startPlan(bestPlan(2, true,
				new DribblePlan(wm, form, library),
				new SRPDribblePlan(wm, form, library)), .3);*/
		startPlan(new DribblePlan(wm, form, library), 0.3); // Ahmad2005

		startPlan(new PassPlan(wm, form, library, BPM_ALL, BPN_ALL,
						-90, +90, -90, +90), .3);

/*		startPlan(bestPlan(2, true,
				new DribblePlan(wm, form, library),
				new SRPDribblePlan(wm, form, library)), .25);*/
		startPlan(new DribblePlan(wm, form, library), 0.25); // Ahmad2005

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

		DribblePlan dribblePlan(wm, form, library);
		dribblePlan.decide();
	}
	else
	{
		if (library.gwSelection == WOBS_INTERCEPT)
			startPlan(new InterceptPlan(wm, form, library));
		startPlan(new OffensePosPlan(wm, form, library));
	}
	
	LOG << "MiddlePlan Now Kill Program" << endl;
	assert(0);
}

double MiddlePlan::successRate()
{
	return 1.0;
}

bool MiddlePlan::isFinished()
{
//	if(isInPlayers(wm->getBody().getUniNum(), "234AB") &&
//			wm->getBall().getPos().getX() < wm->getOppDefenseMedium().x - 20)
//		return false;
	return true;
}