instintive9.rules.svn-base

一个巴西大学编写的2D仿真组足球机器人程序

(
(rule_mark_hold_ball
   (if   (logic ( local_goal current mark ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
   )
   (then (logic ( reactive_behavior active hold_ball ))
         (logic ( local_goal status achieved ))
         (logic ( local_goal current side_attack ))
   )
)
(rule_mark_search_ball
   (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 status active ))
         (logic ( local_goal current mark ))
   )
)
(rule_mark_strategic_position
   (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 status active ))
         (logic ( local_goal current advance ))
   )
)
(rule_mark_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 status active ))
         (logic ( local_goal current mark ))
   )
)
(rule_mark_achieved
   (if   (logic ( local_goal current mark ))
         (logic ( local_goal status active ))
         (logic ( teammate has_ball true ))
   )
   (then (logic ( local_goal status achieved ))
         (logic ( local_goal current mark ))
   )
)



(rule_side_attack_drive_ball_foward
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
   )
   (then (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( reactive_behavior active drive_ball_foward ))
   )
)
(rule_side_attack_pass_ball
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
         (logic ( pass_condition teammate_eleven true ))
         (logic ( ball position known ))
   )
   (then (logic ( reactive_behavior active pass_ball_11 ))
         (logic ( local_goal status active ))
         (logic ( local_goal current side_attack ))
   )
)
(rule_side_attack_pass_ball
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
         (logic ( pass_condition teammate_ten true ))
         (logic ( ball position known ))
   )
   (then (logic ( reactive_behavior active pass_ball_10 ))
         (logic ( local_goal status active ))
         (logic ( local_goal current side_attack ))
   )
)
(rule_side_attack_drive_ball_foward
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player ball_kickable true ))
         (logic ( player localization AREA_CENTRAL_ATTACK ))
         (logic ( pass_condition teammate_ten false ))
         (logic ( pass_condition teammate_eleven false ))
   )
   (then (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( reactive_behavior active drive_ball_foward ))
   )
)
(rule_side_attack_search_ball
   (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 status active ))
         (logic ( local_goal current side_attack ))
   )
)
(rule_side_attack_kick_to_goal
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player localization AREA_ATTACK ))
         (logic ( player ball_kickable true ))
   )
   (then (logic ( reactive_behavior active kick_to_goal ))
         (logic ( local_goal status active ))
         (logic ( local_goal current side_attack ))
   )
)
(rule_side_attack_kick_to_goal
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player localization AREA_SIDE_ATTACK ))
         (logic ( player ball_kickable true ))
   )
   (then (logic ( reactive_behavior active kick_to_goal ))
         (logic ( local_goal status active ))
         (logic ( local_goal current side_attack ))
   )
)
(rule_side_attack_strategic_position
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player fastest_to_ball false ))
         (logic ( player ball_kickable false ))
         (logic ( ball position known ))
   )
   (then (logic ( reactive_behavior active strategic_position ))
         (logic ( local_goal status active ))
         (logic ( local_goal current side_attack ))
   )
)
(rule_side_attack_strategic_position
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player fastest_to_ball false ))
         (logic ( player ball_kickable false ))
         (logic ( player localization AREA_ATTACK ))
         (logic ( ball position known ))
   )
   (then (logic ( reactive_behavior active free_mark ))
         (logic ( local_goal status active ))
         (logic ( local_goal current side_attack ))
   )
)
(rule_side_attack_interceptBall
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( player fastest_to_ball true ))
         (logic ( player ball_kickable false ))
         (logic ( ball position known ))
   )
   (then (logic ( reactive_behavior active intercept_ball ))
         (logic ( local_goal status active ))
         (logic ( local_goal current side_attack ))
   )
)
(rule_side_attack_fail
   (if   (logic ( local_goal current side_attack ))
         (logic ( local_goal status active ))
         (logic ( teammate has_ball false ))
   )
   (then (logic ( local_goal status fail ))
         (logic ( local_goal current side_attack ))
   )
)

)