instintive8.rules.svn-base

一个巴西大学编写的2D仿真组足球机器人程序

(
(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 ))
         (logic ( ball position known ))
   )
   (then (logic ( reactive_behavior active strategic_position ))
         (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_9 ))
   )
   (then (logic ( reactive_behavior active pass_ball_9 ))
         (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_11 ))
   )
   (then (logic ( reactive_behavior active pass_ball_11 ))
         (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
   )
)
(rule_dribble
   (if   (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
         (logic ( pass_condition teammate_eleven false ))
         (logic ( pass_condition teammate_nine false ))
         (logic ( opponent localization back ))
         (logic ( ball orientationNS south ))
         (logic ( player front_space nofree ))
         (logic ( player sick false ))
   )
   (then (logic ( reactive_behavior active drive_ball_fast ))
         (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
   )
)
(rule_dribble
   (if   (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
         (logic ( pass_condition teammate_eleven false ))
         (logic ( pass_condition teammate_nine false ))
         (logic ( opponent localization right ))
         (logic ( player front_space nofree ))
   )
   (then (logic ( reactive_behavior active dribble_slow_left ))
         (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
   )
)
(rule_dribble
   (if   (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
         (logic ( pass_condition teammate_eleven false ))
         (logic ( pass_condition teammate_nine false ))
         (logic ( opponent localization left ))
         (logic ( player front_space nofree ))
   )
   (then (logic ( reactive_behavior active dribble_slow_right ))
         (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
   )
)
(rule_dribble
   (if   (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
         (logic ( pass_condition teammate_eleven false ))
         (logic ( pass_condition teammate_nine false ))
         (logic ( opponent localization right ))
         (logic ( ball orientationNS south ))
         (logic ( player front_space nofree ))
         (logic ( player sick false ))
   )
   (then (logic ( reactive_behavior active dribble_left ))
         (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
   )
)
(rule_dribble
   (if   (logic ( local_goal current advance ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
         (logic ( pass_condition teammate_eleven false ))
         (logic ( pass_condition teammate_nine false ))
         (logic ( opponent localization left ))
         (logic ( ball orientationNS south ))
         (logic ( player front_space nofree ))
         (logic ( player sick false ))
   )
   (then (logic ( reactive_behavior active dribble_right ))
         (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 ))
   )
   (then (logic ( reactive_behavior active drive_ball_looking_at_9_11 ))
         (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 ))
         (logic ( ball position known ))
   )
   (then (logic ( reactive_behavior active strategic_position ))
         (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 ))
   )
   (then (logic ( reactive_behavior active drive_ball_slow_looking_at_9 ))
         (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 ))
         (logic ( player next_line_r true ))
   )
   (then (logic ( reactive_behavior active pass_ball_9 ))
         (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 ))
         (logic ( player sick false ))
         (logic ( pass_conditon teammate_nine false ))
   )
   (then (logic ( reactive_behavior active drive_ball_slow_looking_at_9 ))
         (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 next_line_r true ))
         (logic ( player ball_kickable true ))
         (logic ( pass_condition teammate_nine true ))
   )
   (then (logic ( reactive_behavior active pass_ball_9 ))
         (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
   )
)
(rule_drive
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player next_line_r true ))
         (logic ( player ball_kickable true ))
         (logic ( pass_condition teammate_nine false ))
         (logic ( player distance_to_goalie dont_small ))
         (logic ( player sick false ))
   )
   (then (logic ( reactive_behavior active dribble_right ))
         (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
   )
)
(rule_drive
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player next_line_r true ))
         (logic ( player ball_kickable true ))
         (logic ( player distance_to_goalie dont_small ))
         (logic ( player front_space free ))
         (logic ( player sick true ))
   )
   (then (logic ( reactive_behavior active dribble_slow_right ))
         (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 ball_kickable true ))
         (logic ( ball position known ))
         (logic ( player bestOptionKick center ))
         (logic ( player confidence_for_kick true ))
         (logic ( player distance_to_goalie small ))
   )
   (then (logic ( reactive_behavior active kick_to_goal_center ))
         (logic ( player back_goalie false ))
         (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 ball_kickable true ))
         (logic ( ball position known ))
         (logic ( player bestOptionKick left ))
         (logic ( player confidence_for_kick true ))
         (logic ( player distance_to_goalie small ))
   )
   (then (logic ( reactive_behavior active kick_to_goal_left ))
         (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 ball_kickable true ))
         (logic ( ball position known ))
         (logic ( player bestOptionKick right ))
         (logic ( player confidence_for_kick true ))
         (logic ( player distance_to_goalie small ))
   )
   (then (logic ( reactive_behavior active kick_to_goal_right ))
         (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 ))
   )
)