instintive2.rules.svn-base

来自「一个巴西大学编写的2D仿真组足球机器人程序」· SVN-BASE 代码 · 共 525 行 · 第 1/2 页

(
(rule_searchBall
   (if   (logic ( local_goal current mark ))
         (logic ( local_goal status active ))
         (logic ( ball position unknown ))
         (logic ( player ball_kickable false ))
   )
   (then (logic ( reactive_behavior active search_ball ))
         (logic ( local_goal current mark ))
         (logic ( local_goal status active ))
   )
)
(rule_interceptBall
   (if   (logic ( local_goal current mark ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable false ))
         (logic ( ball position known ))
         (logic ( player fastest_to_ball true ))
   )
   (then (logic ( reactive_behavior active intercept_ball ))
         (logic ( local_goal current mark ))
         (logic ( local_goal status active ))
   )
)
(rule_strategicPosition
   (if   (logic ( local_goal current mark ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable false ))
         (logic ( player fastest_to_ball false ))
   )
   (then (logic ( reactive_behavior active strategic_position ))
         (logic ( local_goal current mark ))
         (logic ( local_goal status active ))
   )
)
(rule_mark_opponent
   (if   (logic ( local_goal current mark ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable false ))
         (logic ( player fastest_to_ball false ))
         (logic ( ball orientationNS south ))
         (logic ( ball orientationLR right ))
         (logic ( ball localization AREA_SIDE ))
         (logic ( player localization AREA_SIDE ))
   )
   (then (logic ( reactive_behavior active mark_goal ))
         (logic ( local_goal current mark ))
         (logic ( local_goal status active ))
   )
)
(rule_mark_opponent
   (if   (logic ( local_goal current mark ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable false ))
         (logic ( player fastest_to_ball false ))
         (logic ( ball orientationNS south ))
         (logic ( ball orientationLR right ))
         (logic ( ball localization AREA_SIDE ))
         (logic ( player localization AREA_SIDE_DEFENSE ))
   )
   (then (logic ( reactive_behavior active mark_goal ))
         (logic ( local_goal current mark ))
         (logic ( local_goal status active ))
   )
)






(rule_searchBall
   (if   (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
         (logic ( ball position unknown ))
         (logic ( player ball_kickable false ))
   )
   (then (logic ( reactive_behavior active search_ball ))
         (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
   )
)
(rule_interceptBall
   (if   (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable false ))
         (logic ( ball position known ))
         (logic ( player fastest_to_ball true ))
   )
   (then (logic ( reactive_behavior active intercept_ball ))
         (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
   )
)
(rule_strategicPosition
   (if   (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable false ))
         (logic ( player fastest_to_ball false ))
   )
   (then (logic ( reactive_behavior active strategic_position ))
         (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
   )
)
(rule_passBall
   (if   (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
         (logic ( player pass_ball teammate_10 ))
   )
   (then (logic ( reactive_behavior active pass_ball_10 ))
         (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
   )
)
(rule_passBall
   (if   (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
         (logic ( player pass_ball teammate_7 ))
   )
   (then (logic ( reactive_behavior active pass_ball_7 ))
         (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
   )
)
(rule_driveBall
   (if   (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
         (logic ( player front_space free ))
         (logic ( player sick false ))
         (logic ( player localization AREA_SIDE_DEFENSE ))
   )
   (then (logic ( reactive_behavior active drive_ball_foward ))
         (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
   )
)
(rule_driveBall
   (if   (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
         (logic ( player front_space free ))
         (logic ( player sick false ))
         (logic ( player localization AREA_SIDE ))
         (logic ( ball orientationNS south ))
   )
   (then (logic ( reactive_behavior active drive_ball_foward ))
         (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
   )
)
(rule_driveBall
   (if   (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
         (logic ( player front_space free ))
         (logic ( player localization AREA_DEFENSE ))
         (logic ( player sick false ))
   )
   (then (logic ( reactive_behavior active drive_ball_fast ))
         (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
   )
)






(rule_searchBall
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( ball position unknown ))
         (logic ( player ball_kickable false ))
   )
   (then (logic ( reactive_behavior active search_ball ))
         (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
   )
)
(rule_interceptBall
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable false ))
         (logic ( ball position known ))
         (logic ( player fastest_to_ball true ))
   )
   (then (logic ( reactive_behavior active intercept_ball ))
         (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
   )
)
(rule_strategicPosition
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable false ))
         (logic ( player fastest_to_ball false ))
   )
   (then (logic ( reactive_behavior active strategic_position ))
         (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
   )
)
(rule_passBall
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
   )
   (then (logic ( reactive_behavior active pass_ball_10 ))
         (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
   )
)
(rule_driveBall
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
         (logic ( player front_space free ))
   )
   (then (logic ( reactive_behavior active drive_ball_foward ))
         (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
   )
)
(rule_kickToGoal
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player localization AREA_ATTACK ))
         (logic ( player ball_kickable true ))
         (logic ( ball position known ))
         (logic ( player confidence_for_kick true ))
   )
   (then (logic ( reactive_behavior active kick_to_goal ))
         (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
   )
)






(rule_searchBall
   (if   (logic ( local_goal current center_attack ))
         (logic ( local_goal status active ))
         (logic ( ball position unknown ))
         (logic ( player ball_kickable false ))
   )
   (then (logic ( reactive_behavior active search_ball ))
         (logic ( local_goal current center_attack ))
         (logic ( local_goal status active ))
   )
)
(rule_interceptBall
   (if   (logic ( local_goal current center_attack ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable false ))
         (logic ( ball position known ))