interceptball.cpp.svn-base

一个巴西大学编写的2D仿真组足球机器人程序

#include "InterceptBall.h"


SoccerCommand InterceptBall::primaryAction()
{
   /*Log.log( 100, "I am fastest to ball;");
   primarySoc = intercept( false );                      // intercept the ball
   if( primarySoc.commandType == CMD_DASH &&             // if stamina low
         WM->getAgentStamina().getStamina() <
         SS->getRecoverDecThr()*SS->getStaminaMax()+200 )
   {
      primarySoc.dPower = 30.0 * WM->getAgentStamina().getRecovery(); // dash slow
   }// if stamina high*/
   return primarySoc;  // dash as intended
}

SoccerCommand InterceptBall::cuncurrentAction()
{
   return turnNeckToObject( OBJECT_BALL, primarySoc );
}

void InterceptBall::InterceptDefault()
{
   Log.log( 100, "I am fastest to ball;");
   primarySoc = intercept( false );                      // intercept the ball
   if( primarySoc.commandType == CMD_DASH &&             // if stamina low
         WM->getAgentStamina().getStamina() <
         SS->getRecoverDecThr()*SS->getStaminaMax()+200 )
   {
      primarySoc.dPower = 30.0 * WM->getAgentStamina().getRecovery(); // dash slow
   }// if stamina high
}

void InterceptBall::InterceptFast()
{
   Log.log( 100, "I am fastest to ball;");
   primarySoc = intercept( false );                      // intercept the ball
}

void InterceptBall::InterceptSlow()
{
   Log.log( 100, "I am fastest to ball;");
   primarySoc = intercept( false );                      // intercept the ball
   primarySoc.dPower = 30.0 * WM->getAgentStamina().getRecovery(); // dash slow
}