images.tex

robocup3d littlegreenbats_howtorobocop-0.1.tar.gz

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\author{Little Green BATS}
\title{RoboCup 3D Simulation HowTo}




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% !!! IMAGES START HERE !!!

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\begin{verbatim}

SocketComm comm("localhost", 3100);
comm.connect();\end{verbatim}

\end{program}%
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\begin{program}
\begin{verbatim}

comm.update();\end{verbatim}

\end{program}%
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{\newpage\clearpage
\lthtmlfigureA{program191}%
\begin{program}
\begin{verbatim}

rf<Predicate> myPredicate = makeMyPredicate();
comm.send(myPredicate);\end{verbatim}

\end{program}%
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\lthtmlcheckvsize\clearpage}

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while (comm.hasNextMessage())
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\begin{verbatim}

// Create the SocketComm and connect
SocketComm comm("localhost", 3100);
comm.connect();

// Wait for the first message from the server
comm.update();

// Identify yourself to the server
comm.init(0, "MyTeam");

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\begin{program}
\begin{verbatim}

WorldModel::initialize(comm);
WorldModel& wm = WorldModel::getInstance();\end{verbatim}

\end{program}%
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wm.update();\end{verbatim}

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\lthtmlfigureA{program226}%
\begin{program}
\begin{verbatim}

Cerebellum& cer = Cerebellum::getInstance();

rf<MoveJointAction> action =
  new MoveJointAction(Types::LLEG1, 0.1);
cer.addAction(action);

cer.outputCommands(comm);\end{verbatim}

\end{program}%
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\lthtmlfigureA{program233}%
\begin{program}
\begin{verbatim}

class MyAgent : public bats::HumanoidAgent
{
  public:
    MyAgent(std::string teamName)
    : bats::HumanoidAgent(teamName)
    {}
};\end{verbatim}

\end{program}%
\lthtmlfigureZ
\lthtmlcheckvsize\clearpage}

{\newpage\clearpage
\lthtmlfigureA{program239}%
\begin{program}
\begin{verbatim}

int main()
{
  MyAgent agent("MyTeam");
  agent.run();
}\end{verbatim}

\end{program}%
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\stepcounter{section}
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\lthtmlfigureA{program257}%
\begin{program}
\begin{verbatim}

class MyBehavior : public Behavior
{
  virtual rf<Goal> generateGoal(unsigned step,
                                unsigned slot);
  virtual rf<State> getCurrentState();
  virtual ConfidenceInterval getCapability(rf<State> s,
                                           rf<Goal> g);

public:
  MyBehavior(std::string const &id,
             std::string const &playerClass);
};\end{verbatim}

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{\newpage\clearpage
\lthtmlfigureA{program262}%
\begin{program}
\begin{verbatim}

$ cd util/
$ ./createbehavior.pl
[Enter the behaviors name (e.g. MyBehavior)]\end{verbatim}

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\begin{verbatim}

// Define the root, which is always a sequence:
d_tree = new AST::Node(sequenceType);
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d_tree->addChild(new AST::Node(andType));
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\begin{program}
\begin{verbatim}

// Define the root, which is always a sequence:
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// Add one slot to the first step:
d_tree->getChild(0)->addChild(new AST::Node(orType));

// Add second step to the sequence:
d_tree->addChild(new AST::Node(andType));
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d_tree->getChild(1)->addChild(new AST::Node(orType));
d_tree->getChild(1)->addChild(new AST::Node(orType));

// Add third step to the sequence:
d_tree->addChild(new AST::Node(andType));
// Add one slot to the third step:
d_tree->getChild(2)->addChild(new AST::Node(orType));\end{verbatim}

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{\newpage\clearpage
\lthtmldisplayA{displaymath280}%
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(0 \leq BallDist < 5) \wedge (10 \leq OpponentDist < 15)
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\lthtmldisplayZ
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{\newpage\clearpage
\lthtmlfigureA{program286}%
\begin{program}
\begin{verbatim}

rf<State> state = new State();
rf<OrNode> dis = state->addDisjunct();
rf<AndNode> con = dis->addConjunct();

con->addVar("BallDist", 0, 5);
con->addVar("OpponentDist", 10, 15);\end{verbatim}

\end{program}%
\lthtmlfigureZ
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{\newpage\clearpage
\lthtmlfigureA{program295}%
\begin{program}
\begin{verbatim}

void MyBehavior::update()
{
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  // Check if we are already committed
  // due to committed subbehavior(s)
  if (d_committed)
    return;
  
  // Commit if we can still reach our goal  
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\lthtmlfigureZ
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\stepcounter{subsection}
{\newpage\clearpage
\lthtmlfigureA{program314}%
\begin{program}
\begin{verbatim}

<?xml version="1.0" encoding="ISO-8859-1"?>

<conf xmlns:xi="http://www.w3.org/2003/XInclude">\end{verbatim}

\end{program}%
\lthtmlfigureZ
\lthtmlcheckvsize\clearpage}

{\newpage\clearpage
\lthtmlfigureA{program319}%
\begin{program}
\begin{verbatim}

<player id="1" class="attacker" />\end{verbatim}

\end{program}%
\lthtmlfigureZ
\lthtmlcheckvsize\clearpage}

{\newpage\clearpage
\lthtmlfigureA{program324}%
\begin{program}
\begin{verbatim}

<player-class id="attacker">\end{verbatim}

\end{program}%
\lthtmlfigureZ
\lthtmlcheckvsize\clearpage}

{\newpage\clearpage
\lthtmlfigureA{program330}%
\begin{program}
\begin{verbatim}

<behavior type="MyBehavior" id="mybehavior">\end{verbatim}

\end{program}%
\lthtmlfigureZ
\lthtmlcheckvsize\clearpage}

{\newpage\clearpage
\lthtmlfigureA{program336}%
\begin{program}
\begin{verbatim}

  <param>
        <deg>10</deg>
        <joint slot="0"></joint>
        <joint slot="1"></joint>
  </param>\end{verbatim}

\end{program}%
\lthtmlfigureZ
\lthtmlcheckvsize\clearpage}

{\newpage\clearpage
\lthtmlfigureA{program344}%
\begin{program}
\begin{verbatim}

<slot index="0-0">
  <behavior refid="mybehavior" />
</slot>\end{verbatim}

\end{program}%
\lthtmlfigureZ
\lthtmlcheckvsize\clearpage}

\stepcounter{subsection}
{\newpage\clearpage
\lthtmlfigureA{program351}%
\begin{program}
\begin{verbatim}

void MyAgent::init()
{
  Conf::initialize("myconf.xml");
  Behavior::createBehaviors();
}\end{verbatim}

\end{program}%
\lthtmlfigureZ
\lthtmlcheckvsize\clearpage}

{\newpage\clearpage
\lthtmlfigureA{program356}%
\begin{program}
\begin{verbatim}

void MyBehavior::think()
{
  rf<Behavior> win = Behavior::getWin();
  win->update();
  win->setGoal(new Behavior::Goal);
  win->achieveGoal();
}\end{verbatim}

\end{program}%
\lthtmlfigureZ
\lthtmlcheckvsize\clearpage}

{\newpage\clearpage
\lthtmlfigureA{program360}%
\begin{program}
\begin{verbatim}

void MyBehavior::think()
{
  ...
  Cerebellum& cer = Cerebellum::getInstance();
  
  std::set<rf<Behavior> > acBehaviors = Behavior::getActionCommandBehaviors();
  for (set<rf<Behavior> >::iterator iter = acBehaviors.begin(); iter != acBehaviors.end(); ++iter)
  	cer.addAction((*iter)->getAction());
  
  cer.outputCommands(d_comm);
}\end{verbatim}

\end{program}%
\lthtmlfigureZ
\lthtmlcheckvsize\clearpage}

\appendix
\stepcounter{chapter}

\end{document}