driveball.cpp.svn-base

一个巴西大学编写的2D仿真组足球机器人程序

#include "DriveBall.h"


DriveBall::DriveBall():Behavior()
{
   mObject = OBJECT_OPPONENT_1;
}


SoccerCommand DriveBall::primaryAction()
{
   //primarySoc = dribble( 0.0, dribbleType );
   return primarySoc;
}

SoccerCommand DriveBall::cuncurrentAction()
{
   if( nObj == 1 )
   {
      if ( (WM->getCurrentCycle()%2) == 1 )
         cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
      else
         cuncurrentSoc = turnNeckToObject( mObject , primarySoc );
   }
   else
   {
      if ( (WM->getCurrentCycle()%3 == 0) )
         cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
      else if( ((WM->getCurrentCycle()+1)%3 == 0) )
         cuncurrentSoc = turnNeckToObject( mObject2, primarySoc );
      else
         cuncurrentSoc = turnNeckToObject( mObject1, primarySoc );
   }
   return cuncurrentSoc;
}

void DriveBall::driveBall()
{
   primarySoc = dribble( 0.0, dribbleType );
}

void DriveBall::setLookAt(ObjectT o)
{
   nObj = 1;
   mObject = o;
}

void DriveBall::setLookAt2(ObjectT obj1 , ObjectT obj2)
{
   nObj = 2;
   mObject1 = obj1;
   mObject2 = obj2;
}

void DriveBall::setDribbleType( DribbleT d)
{
      dribbleType = d;
}

void DriveBall::dribbleRight()
{
   primarySoc = dribble( 45.0, dribbleType );
}

void DriveBall::dribbleLeft()
{
   primarySoc = dribble( -45.0, dribbleType );
}

/*         soc = driveBallFoward();
         ACT->putCommandInQueue( soc );
         if ((WM->getCurrentCycle()%2) == 1)
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         else
            ACT->putCommandInQueue( turnNeckToObject( OBJECT_TEAMMATE_9, soc ) ); */