inferencebrain.cpp.svn-base

一个巴西大学编写的2D仿真组足球机器人程序

#include "InferenceBrain.h"

InferenceBrain::InferenceBrain():Brain()
{
   emptyRulesBase = true;
}

Behavior* InferenceBrain::think( Formations*  formations )
{
   if ( emptyRulesBase )
   {
      instintive.loadRulesBase();
      emptyRulesBase = false;
   }

   outputMessage = instintive.makeInference();

   return selectBehavior( outputMessage, formations );
}

Behavior* InferenceBrain::selectBehavior( string outputMessage, Formations* formations )
{
   Behavior* actualBehavior = NULL;

   VecPosition   posAgent = WM->getAgentGlobalPosition();
   VecPosition   posBall  = WM->getBallPos();
   int           iTmp;

   if( WM->isBeforeKickOff( ) )
   {
      if( WM->isKickOffUs( ) && WM->getPlayerNumber() == 9 ) // 9 takes kick
      {
         if( WM->isBallKickable() )
         {
            // pass Ball 
            mpPassBall->simpleLeadingPass( OBJECT_TEAMMATE_5 );
            actualBehavior = mpPassBall;
            Log.log( 100, "take kick off" );
         }
         else
         {
            // intercept ball
            mpInterceptBall->InterceptDefault();
            actualBehavior = mpInterceptBall;
            Log.log( 100, "move to ball to take kick-off" );
         }
         return actualBehavior;
      }
      if( formations->getFormation() != FT_INITIAL || // not in kickoff formation
          posAgent.getDistanceTo( WM->getStrategicPosition() ) > 2.0 )  
      {
         formations->setFormation( FT_INITIAL );      // go to kick_off formation
         actualBehavior = mpTeleport;
      }
      else                                            // else turn to center
      {
         actualBehavior = mpSearchBall;
      }
   }
   else
   {
      if( WM->getClosestInSetTo( OBJECT_SET_TEAMMATES , OBJECT_BALL ) == OBJECT_TEAMMATE_1 )
         formations->setFormation( FT_DEFENSIVE );
      else
         formations->setFormation( FT_433_OFFENSIVE );

      if ( outputMessage == "search_ball" )
      {
         actualBehavior = mpSearchBall;
      }
      else if ( outputMessage == "pass_ball_foward" )
      {
         mpPassBall->passBallFoward();
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "drive_ball_foward" )
      {
         mpDriveBall->driveBall();
         mpDriveBall->setLookAt( OBJECT_OPPONENT_1 );
         mpDriveBall->setDribbleType( DRIBBLE_WITHBALL );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "dribble_slow_right" )
      {
         mpDriveBall->dribbleRight();
         mpDriveBall->setLookAt( OBJECT_OPPONENT_1 );
         mpDriveBall->setDribbleType( DRIBBLE_SLOW );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "dribble_slow_left" )
      {
         mpDriveBall->dribbleLeft();
         mpDriveBall->setLookAt( OBJECT_OPPONENT_1 );
         mpDriveBall->setDribbleType( DRIBBLE_SLOW );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "dribble_right" )
      {
         mpDriveBall->dribbleRight();
         mpDriveBall->setLookAt( OBJECT_OPPONENT_1 );
         mpDriveBall->setDribbleType( DRIBBLE_FAST );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "dribble_left" )
      {
         mpDriveBall->dribbleLeft();
         mpDriveBall->setLookAt( OBJECT_OPPONENT_1 );
         mpDriveBall->setDribbleType( DRIBBLE_FAST );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "dribble_right_looking_at_9" )
      {
         mpDriveBall->dribbleRight();
         mpDriveBall->setLookAt( OBJECT_TEAMMATE_9 );
         mpDriveBall->setDribbleType( DRIBBLE_FAST );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "dribble_left_looking_at_9" )
      {
         mpDriveBall->dribbleLeft();
         mpDriveBall->setLookAt( OBJECT_TEAMMATE_9 );
         mpDriveBall->setDribbleType( DRIBBLE_FAST );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "drive_ball_looking_at_9" )
      {
         mpDriveBall->driveBall();
         mpDriveBall->setLookAt(OBJECT_TEAMMATE_9);
         mpDriveBall->setDribbleType( DRIBBLE_WITHBALL );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "drive_ball_looking_at_6" )
      {
         mpDriveBall->driveBall();
         mpDriveBall->setLookAt(OBJECT_TEAMMATE_6);
         mpDriveBall->setDribbleType( DRIBBLE_WITHBALL );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "drive_ball_looking_at_7_8" )
      {
         mpDriveBall->driveBall();
         mpDriveBall->setLookAt2(OBJECT_TEAMMATE_7,OBJECT_TEAMMATE_8);
         mpDriveBall->setDribbleType( DRIBBLE_WITHBALL );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "drive_ball_looking_at_7_9" )
      {
         mpDriveBall->driveBall();
         mpDriveBall->setLookAt2(OBJECT_TEAMMATE_7,OBJECT_TEAMMATE_9);
         mpDriveBall->setDribbleType( DRIBBLE_WITHBALL );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "drive_ball_looking_at_8_9" )
      {
         mpDriveBall->driveBall();
         mpDriveBall->setLookAt2(OBJECT_TEAMMATE_8,OBJECT_TEAMMATE_9);
         mpDriveBall->setDribbleType( DRIBBLE_WITHBALL );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "drive_ball_looking_at_9_11" )
      {
         mpDriveBall->driveBall();
         mpDriveBall->setLookAt2(OBJECT_TEAMMATE_9,OBJECT_TEAMMATE_11);
         mpDriveBall->setDribbleType( DRIBBLE_WITHBALL );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "drive_ball_looking_at_9_10" )
      {
         mpDriveBall->driveBall();
         mpDriveBall->setLookAt2(OBJECT_TEAMMATE_9,OBJECT_TEAMMATE_10);
         mpDriveBall->setDribbleType( DRIBBLE_WITHBALL );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "drive_ball_looking_at_10_11" )
      {
         mpDriveBall->driveBall();
         mpDriveBall->setLookAt2(OBJECT_TEAMMATE_10,OBJECT_TEAMMATE_11);
         mpDriveBall->setDribbleType( DRIBBLE_WITHBALL );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "drive_ball_looking_at_10" )
      {
         mpDriveBall->driveBall();
         mpDriveBall->setLookAt(OBJECT_TEAMMATE_10);
         mpDriveBall->setDribbleType( DRIBBLE_WITHBALL );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "drive_ball_looking_at_11" )
      {
         mpDriveBall->driveBall();
         mpDriveBall->setLookAt(OBJECT_TEAMMATE_11);
         mpDriveBall->setDribbleType( DRIBBLE_WITHBALL );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "drive_ball_slow" )
      {
         mpDriveBall->driveBall();
         mpDriveBall->setDribbleType( DRIBBLE_SLOW );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "drive_ball_slow_looking_at_9" )
      {
         mpDriveBall->driveBall();
         mpDriveBall->setLookAt(OBJECT_TEAMMATE_9);
         mpDriveBall->setDribbleType( DRIBBLE_SLOW );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "kick_to_goal" )
      {
         mpKickToGoal->kickToGoal();
         actualBehavior = mpKickToGoal;
      }
      else if ( outputMessage == "kick_to_goal_right" )
      {
         mpKickToGoal->kickToGoalRight();
         actualBehavior = mpKickToGoal;
      }
      else if ( outputMessage == "kick_to_goal_left" )
      {
         mpKickToGoal->kickToGoalLeft();
         actualBehavior = mpKickToGoal;
      }
      else if ( outputMessage == "kick_to_goal_center" )
      {
         mpKickToGoal->kickToGoalCenter();
         actualBehavior = mpKickToGoal;
      }
      else if ( outputMessage == "pass_ball" )
      {
         mpPassBall->passBall();
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "cobranca_7_8" )
      {
         mpPassBall->cobranca( OBJECT_TEAMMATE_7 , OBJECT_TEAMMATE_8 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "cobranca_7_10" )
      {
         mpPassBall->cobranca( OBJECT_TEAMMATE_7 , OBJECT_TEAMMATE_10 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "cobranca_8_11" )
      {
         mpPassBall->cobranca( OBJECT_TEAMMATE_8 , OBJECT_TEAMMATE_11 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "cobranca_7_9" )
      {
         mpPassBall->cobranca( OBJECT_TEAMMATE_7 , OBJECT_TEAMMATE_9 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "cobranca_8_9" )
      {
         mpPassBall->cobranca( OBJECT_TEAMMATE_8 , OBJECT_TEAMMATE_9 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "cobranca_6_7" )
      {
         mpPassBall->cobranca( OBJECT_TEAMMATE_6 , OBJECT_TEAMMATE_7 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "cobranca_6_8" )
      {
         mpPassBall->cobranca( OBJECT_TEAMMATE_6 , OBJECT_TEAMMATE_8 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "cobranca_9_10" )
      {
         mpPassBall->cobranca( OBJECT_TEAMMATE_9 , OBJECT_TEAMMATE_10 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "cobranca_9_11" )
      {
         mpPassBall->cobranca( OBJECT_TEAMMATE_9 , OBJECT_TEAMMATE_11 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "intercept_ball" )
      {
         mpInterceptBall->InterceptDefault();
         actualBehavior = mpInterceptBall;
      }
      else if ( outputMessage == "intercept_fast" )
      {
         mpInterceptBall->InterceptFast();
         actualBehavior = mpInterceptBall;
      }
      else if ( outputMessage == "intercept_slow" )
      {
         mpInterceptBall->InterceptSlow();
         actualBehavior = mpInterceptBall;
      }
      else if ( outputMessage == "strategic_position" )
      {
         actualBehavior = mpGoStrategicPosition;
      }
      else if ( outputMessage == "mark_opponent" )
      {
         mpMarkOpponent->markBall();
         actualBehavior = mpMarkOpponent;
      }
      else if ( outputMessage == "mark_bisector" )
      {
         mpMarkOpponent->markBisector();
         actualBehavior = mpMarkOpponent;
      }
      else if ( outputMessage == "mark_goal" )
      {
         mpMarkOpponent->markGoal();
         actualBehavior = mpMarkOpponent;
      }
      else if ( outputMessage == "free_mark" )
      {
         mpStayAwayOfMark->freeMark(); 
         actualBehavior = mpStayAwayOfMark;
      }
      else if ( outputMessage == "free_mark_pos" )
      {
         mpStayAwayOfMark->freeMarkPos(); 
         actualBehavior = mpStayAwayOfMark;
      }
      else if ( outputMessage == "drive_ball_fast" )
      {
         mpDriveBall->driveBall();
         mpDriveBall->setDribbleType( DRIBBLE_FAST );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "drive_ball_fast_looking_at_9" )
      {
         mpDriveBall->driveBall();
         mpDriveBall->setLookAt( OBJECT_TEAMMATE_9 );
         mpDriveBall->setDribbleType( DRIBBLE_FAST );
         actualBehavior = mpDriveBall;
      }
      else if ( outputMessage == "hold_ball" )
      {
         actualBehavior = mpHoldBall;
      }
      else if ( outputMessage == "advanced_pass_10" )
      {
         mpPassBall->advancedPass( OBJECT_TEAMMATE_10 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "pass_ball_10" )
      {
         mpPassBall->simpleLeadingPass( OBJECT_TEAMMATE_10 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "pass_ball_11" )
      {
         mpPassBall->simpleLeadingPass( OBJECT_TEAMMATE_11 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "advanced_pass_11" )
      {
         mpPassBall->advancedPass( OBJECT_TEAMMATE_11 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "pass_ball_8" )
      {
         mpPassBall->simpleLeadingPass( OBJECT_TEAMMATE_8 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "pass_ball_7" )
      {
         mpPassBall->simpleLeadingPass( OBJECT_TEAMMATE_7 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "pass_ball_6" )
      {
         mpPassBall->simpleLeadingPass( OBJECT_TEAMMATE_6 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "pass_ball_5" )
      {
         mpPassBall->simpleLeadingPass( OBJECT_TEAMMATE_5 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "pass_ball_9" )
      {
         /*if( (WM->getPlayerNumber() == 10) || (WM->getPlayerNumber() == 11) )
         {
            if( (WM->getGlobalPosition( OBJECT_TEAMMATE_9 ).getX() > 30) && (WM->getGlobalPosition( OBJECT_TEAMMATE_9 ).getX()< 40) )
            {*/
               mpPassBall->simpleLeadingPass( OBJECT_TEAMMATE_9 );
               actualBehavior = mpPassBall;
            /*}
            else  //passa à frente
            {
               mpPassBall->advancedPass( OBJECT_TEAMMATE_9 );
               actualBehavior = mpPassBall;
            }
         }
         else
         {
            mpPassBall->simpleLeadingPass( OBJECT_TEAMMATE_9 );
            actualBehavior = mpPassBall;
         }*/
      }
      else if ( outputMessage == "advanced_pass_9" )
      {
         mpPassBall->advancedPass( OBJECT_TEAMMATE_9 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "fast_pass_9" )
      {
         mpPassBall->fastPass( OBJECT_TEAMMATE_9 );
         actualBehavior = mpPassBall;
      }
      else if ( outputMessage == "advance" )
      {
         actualBehavior = mpAdvance;
      }

      /*else if ( outputMessage == "no_output_message" )
         cout << " Sem regras selecionadas. "<< endl;*/

   }
   return actualBehavior;
}