gostrategicposition.cpp.svn-base

一个巴西大学编写的2D仿真组足球机器人程序

#include "GoStrategicPosition.h"

SoccerCommand GoStrategicPosition::primaryAction()
{
   primarySoc =  turnBodyToObject( OBJECT_BALL );
   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());
      else
         if( ! WM->isVisible( OBJECT_BALL ) )
            primarySoc = searchBall();
   }
   return primarySoc;
}

SoccerCommand GoStrategicPosition::cuncurrentAction()
{
   // watch ball
   if( CMD_TURN == primarySoc.commandType )
      if( WM->getCurrentCycle()%2 == 0 )
         return alignNeckWithBody( );
      else
         return turnNeckToObject( OBJECT_BALL, primarySoc );
   else
      return turnNeckToObject( OBJECT_BALL, primarySoc );
}