?? penalty.cc
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#include "Penalty.h"
#include "../Common/Common.h"
#include "../TOOLS/BallTricks.h"
#include "../TOOLS/BasicTricks.h"
#include "../TOOLS/HeadTricks.h"
#include "../TOOLS/ComplexTricks.h"
#include "../TOOLS/MovementTricks.h"
// Penalty player from who knows when. Pre JetLi I think, so very old (pre 2003 competition)
Penalty::Penalty() {
debugOutput = configuration_.GetAsBool("DebugOutput");
currentTrick = new BasicTricks::NullBody();
headTrick = new BasicTricks::NullHead();
inPlaying = false;
}
Penalty::~Penalty() {
delete currentTrick;
delete headTrick;
}
void Penalty::NewGoHomeModel() {
if (inPlaying) {
delete headTrick;
headTrick = new HeadTricks::HeadPan(85,-85,3,50); // MQ 19/6 .. changed from (70,-70,0,12)
headTrick->Start();
delete currentTrick;
currentTrick = new BasicTricks::NullBody();
currentTrick->Start();
}
int hC = headTrick->Continue();
if (hC < 1) {
delete headTrick;
headTrick = new HeadTricks::HeadPan(85,-85,3,50); // MQ 19/6 .. changed from (70,-70,0,12)
headTrick->Start();
}
inPlaying = false;
/* if (frame_ % 300 == 0) {
delete headTrick;
headTrick = new HeadTricks::FixateOnBeacon(75);
headTrick->Start();
}*/
}
void Penalty::NewReadyModel() {
if (inPlaying) {
delete headTrick;
headTrick = new HeadTricks::HeadPan(85,-85,3,50); // MQ 19/6 .. changed from (70,-70,0,12)
headTrick->Start();
delete currentTrick;
currentTrick = new BasicTricks::NullBody();
currentTrick->Start();
}
int hC=headTrick->Continue();
//char* hMsg = headTrick->GetErrorMsg(hC);
if (!currentTrick->IsUsingHead() && (hC < 1)) {
headTrick = new HeadTricks::HeadPan(85,-85,3,50); // MQ 19/6 .. changed from (70,-70,0,12)
headTrick->Start();
} else if (vo_ball_ != NULL && strcmp(headTrick->GetName(),"HeadPan")==0) {
delete headTrick;
headTrick = new HeadTricks::FollowBallWithHeadSticky(10);
headTrick->Start();
}
inPlaying = false;
}
void Penalty::NewPlayingModel() {
if (!inPlaying) {
delete headTrick;
headTrick = new BasicTricks::NullHead();
headTrick->Start();
delete currentTrick;
currentTrick = new BasicTricks::NullBody();
currentTrick->Start();
}
inPlaying=true;
int hC = headTrick->Continue();
if (hC < 1) {
delete headTrick;
headTrick = new BasicTricks::NullHead();
headTrick->Start();
}
int cC = currentTrick->Continue();
if (cC < 1) {
if (vo_ball_ != NULL) {
if (debugOutput)
cout << "Penalty: Ball visible. Chase !" << endl << flush;
delete currentTrick;
currentTrick = new ComplexTricks::AdvancedChaseWithKick();
currentTrick->Start();
headTrick->Abort();
delete headTrick;
headTrick = new BasicTricks::NullHead();
headTrick->Start();
} else if (strcmp(currentTrick->GetName(),"AdvancedChaseWithKick") == 0){
if (debugOutput)
cout << "Penalty: Ball not visible, and was chasing/kicking. PostKickSearch !" << endl << flush;
delete currentTrick;
// if (cC == 0) currentTrick = new ComplexTricks::PostChaseSearchForBall(true,60.0);
// else currentTrick = new ComplexTricks::PostChaseSearchForBall(false,60.0);
currentTrick = new BasicTricks::NullBody();
currentTrick->Start();
delete headTrick;
headTrick = new BasicTricks::NullHead();
headTrick->Start();
} else {
if (debugOutput)
cout << "Penalty: Ball not visible" << endl << flush;
delete currentTrick;
currentTrick = new MovementTricks::SearchForBall(360.0);
currentTrick->Start();
delete headTrick;
headTrick = new BasicTricks::NullHead();
headTrick->Start();
}
}
}
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