advance.cpp.svn-base

一个巴西大学编写的2D仿真组足球机器人程序

#include "Advance.h"

SoccerCommand Advance::primaryAction()
{
   VecPosition targetPosition = WM->getAgentGlobalPosition();
   //targetPosition.setX( targetPosition.getX() + 1.2 );
   if( targetPosition.getX() < WM->getGlobalPosition(OBJECT_BALL).getX() )
      targetPosition.setX( targetPosition.getX() + 1.2 );
/*   else if( WM->getAgentStamina().getStamina() >     // if stamina high
       SS->getRecoverDecThr()*SS->getStaminaMax()+800 )
   {
      if ((WM->getAgentGlobalPosition().operator - (WM->getStrategicPosition())).getMagnitude() > 3 )
         // move to strategic pos
         primarySoc = moveToPos(WM->getStrategicPosition(),
                             PS->getPlayerWhenToTurnAngle());
   }
      */
   primarySoc = moveToPos( targetPosition , PS->getPlayerWhenToTurnAngle() );
   return primarySoc;
}

SoccerCommand Advance::cuncurrentAction()
{
   return turnNeckToPoint( OBJECT_BALL , primarySoc );
}