?? block.cpp
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/* * Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET). * * This program is free software, you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Library General Public License for more details. * * This file is created by: Meisam Vosoughpour * * Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. * For more information please read README file.*/#include <cmath>#include <Block.h>#include <cassert>#include <Degree.h>#include <BasicDash.h>#include <Logger.h>#include <AdvancedAgent.h>using namespace std;float Block::getValue(const Library &library){ LOG << "Block::getValue" << endl; float minTurnAngle = 20; if (!worldModel->getCurInterCalculate().existFastestPlayer()) { LOG << "BLOCK AD_MIN_VALUE 1" << endl; return AD_MIN_VALUE; } blockCommand = NULL; float oppDribbleFixedVel = 1; Vector oppDribbleVector, opptoMeVector, blockAbsVector, ballVelVector, blockPointToMeVector; Point oppDribblePoint = Point(-52.5, 0); if (worldModel->getBall().getPos().getX() > -30) { oppDribbleFixedVel = .85; oppDribblePoint.y = worldModel->getBall().getPos().getY(); } else oppDribbleFixedVel = 1.1; oppDribbleVector.setByPoints(worldModel->getBall().getPos(), oppDribblePoint); ballVelVector.setAsPolar(oppDribbleFixedVel, oppDribbleVector.getDirection()); opptoMeVector.setByPoints(worldModel->getBall().getPos(), worldModel->getBody().getPos()); blockInterCalc.startSession(0, NULL, &worldModel->getCurInterCalculate().getFastestPlayer());// blockInterCalc.setLogging(true);// if (worldModel->getBallStatus() == BS_KICKABLE_OPP)// { if (worldModel->getBall().getPos().getX() > -35) { blockInterCalc.setTmmSeeBallDelay(3); blockInterCalc.setTmmSlowDashPower(15); blockInterCalc.setTmmDirectDashPower(15); } else { blockInterCalc.setTmmSeeBallDelay(2); blockInterCalc.setTmmSlowDashPower(20); blockInterCalc.setTmmDirectDashPower(20); }// } blockInterCalc.addPlayer(worldModel->getBody()); blockInterCalc.addPlayer(worldModel->getCurInterCalculate(). getFastestPlayer(), false, true); Ball blockBall(worldModel->getBall());// if (worldModel->getBallStatus() == BS_KICKABLE_OPP)// blockBall.setPos() = worldModel->getCurInterCalculate().// getFastestPlayer().getPos(); blockInterCalc.setVirtualBall(blockBall); blockInterCalc.setBlockedBallVel(ballVelVector); blockInterCalc.run(); while (!blockInterCalc.existFastestPlayer() && ballVelVector.getMagnitude() >= 0) { ballVelVector.setAsPolar(ballVelVector.getMagnitude() - .05, ballVelVector.getDirection()); // blockInterCalc.setLogging(true); if (worldModel->getBallStatus() == BS_KICKABLE_OPP && worldModel->getBall().getPos().getX() > -36) { blockInterCalc.setTmmSeeBallDelay(2); blockInterCalc.setTmmSlowDashPower(20); blockInterCalc.setTmmDirectDashPower(20); } blockInterCalc.setVirtualBall(worldModel->getBall()); blockInterCalc.setBlockedBallVel(ballVelVector); blockInterCalc.run(); } if (!blockInterCalc.existFastestPlayer()) { blockCommand = NULL; LOG << "BLOCK RETURN AD_MIN_VALUE 2 " << endl; return AD_MIN_VALUE; } blockPoint = blockInterCalc.getFastestInterPlayer().getInterPoint(); blockPointToMeVector.setByPoints(blockPoint, worldModel->getBody().getPos()); blockAbsVector.setAsPolar(blockPointToMeVector.getMagnitude(), Degree::getDeltaAngle(oppDribbleVector.getDirection(), blockPointToMeVector.getDirection())); float maxBasicDist = 1.5 + blockPointToMeVector.getMagnitude() / 5.00; LOG << "worldModel->getCurInterCalculate().getFastestPlayer().getPos() : " << worldModel->getCurInterCalculate().getFastestPlayer().getPos() << endl; LOG << "maxBasicDist : " << maxBasicDist << endl; Vector changedBlockVector; Point changedBlockPoint; changedBlockVector.setAsPolar(10, oppDribbleVector.getDirection()); changedBlockPoint.x = worldModel->getBody().getPos().getX() + changedBlockVector.getX(); changedBlockPoint.y = worldModel->getBody().getPos().getY() + changedBlockVector.getY(); LOG << "blockPoint : " << blockPoint << endl; LOG << "changedBlockPoint : " << changedBlockPoint << endl;//////////////////////////////////// if (worldModel->getBody().getPostNum() <= 5) { if (blockPoint.x >= 0) blockPoint.x = 0; }////////////////THISO/* if ((worldModel->getBody().getPostNum() <= 5 || worldModel->getBody().getPostNum() == 8) && worldModel->getBall().getPos().getX() > -34 && worldModel->getBall().getPos().getX() < 0) { float unitStep = 6.5; float deffStep = ((int)(worldModel->getBall().getPos().getX() / unitStep) - 1) * unitStep; if (blockPoint.x > deffStep) blockPoint.x = deffStep; }*/////////////////THISO if ((worldModel->getBody().getPostNum() <= 5 || worldModel->getBody().getPostNum() == 8) && worldModel->getCurInterCalculate().existFastestPlayer()) {// float outsideMaxDelY;// float insideMaxDelY;// float bodyDeltaX = worldModel->getBody().getPos().getX() - blockPoint.x;// float bodyDeltaY = worldModel->getBody().getPos().getY() - blockPoint.y; Point localHomePoint = library.positioning.getHomePoint(worldModel->getBody().getUniNum()); float deltaX = library.positioning.getHomePoint( worldModel->getBody().getUniNum()).x - blockPoint.x; float deltaY = library.positioning.getHomePoint( worldModel->getBody().getUniNum()).y - blockPoint.y; float deltaBodyX = worldModel->getBody().getPos().getX() - blockPoint.x; float deltaBodyY = worldModel->getBody().getPos().getY() - blockPoint.y; LOG << "MEISAM 2005 KHOONE : blockPoint , homePoint : " << blockPoint << " " << library.positioning.getHomePoint( worldModel->getBody().getUniNum()) << endl; float xDist34 = -4.5; float xBodyDist34 = -3.5; if (worldModel->getBall().getPos().getX() > -30) { if (library.lastBodyCycleCommand->getCreator() == AT_BLOCK) xDist34 = -4.5; } if (worldModel->getBall().getPos().getX() < -30) { xDist34 = -2.5; if (library.lastBodyCycleCommand->getCreator() == AT_BLOCK) xDist34 = -3.5; } float xDist25 = -4.8; if (worldModel->getBall().getPos().getX() > -30) { if (library.lastBodyCycleCommand->getCreator() == AT_BLOCK) xDist25 = -11; } if (worldModel->getBall().getPos().getX() < -30) { xDist25 = -2.5; if (library.lastBodyCycleCommand->getCreator() == AT_BLOCK) xDist25 = -4; } if (worldModel->getBody().getStamina() < 2000) xDist25 = -2; if (worldModel->getBody().getStamina() < 1700) xDist25 = -1; float bigDelY34, smallDelY34; if (worldModel->getBody().getPos().getX() > blockPoint.x) { if (blockPoint.x > -3) { bigDelY34 = 6; smallDelY34 = 4; } else { bigDelY34 = 6; smallDelY34 = 6; } } else { if (blockPoint.x > -3) { bigDelY34 = 6; smallDelY34 = 4; } else { bigDelY34 = 6; smallDelY34 = 6; } } LOG << "library.lastBodyCycleCommand->getCreator() : " << library.lastBodyCycleCommand->getCreator() << endl; LOG << "AT_BLOCK = " << AT_BLOCK << endl; if (library.lastBodyCycleCommand->getCreator() == AT_BLOCK) { bigDelY34 *= 1.2; smallDelY34 *= 1.2; } LOG << "MEISAM : BLOCK : deltaX , deltaY : " << deltaX << " " << deltaY << endl; LOG << "MEISAM2005 : BLOCK : deltaBodyX , deltaBodyY : " << deltaBodyX << " " << deltaBodyY << endl; LOG << "MEISAM : BLOCK : localHomePoint : " << localHomePoint << endl; float smallVeto2 = 5, bigVeto2 = 8, alowedDelBodyX = 3; if (library.lastBodyCycleCommand->getCreator() == AT_BLOCK) { smallVeto2 = 7; bigVeto2 = 10; alowedDelBodyX = 4.5; } switch (worldModel->getBody().getPostNum()) { case 2: if (deltaY < -5 || (deltaX < xDist25 && blockPoint.x > worldModel->getBody().getPos().getX())) return AD_MIN_VALUE; break; case 5: if (deltaY > 5 || (deltaX < xDist25 && blockPoint.x > worldModel->getBody().getPos().getX())) return AD_MIN_VALUE; break; case 3: case 4: if (!(((fabs(deltaY) < bigDelY34 && fabs(worldModel->getBall().getPos().getY()) < fabs(localHomePoint.y)) || (fabs(deltaY) < smallDelY34 && fabs(worldModel->getBall().getPos().getY()) > fabs(localHomePoint.y))) && ((deltaX > xDist34 || (deltaX * .5 > xDist34 && deltaBodyX > xBodyDist34)) || blockPoint.x < worldModel->getBody().getPos().getX()))) { LOG << "VETO VETO Block 1 " << endl; return AD_MIN_VALUE; } else if (((worldModel->getBody().getPos().getX() - worldModel->getBall().getPos().getX()) < -smallVeto2 && deltaBodyX < -alowedDelBodyX) || (worldModel->getBody().getPos().getX() - worldModel->getBall().getPos().getX()) < -bigVeto2) { LOG << "VETO VETO Block 2 " << endl; return AD_MIN_VALUE; } break; case 8: if (worldModel->getBall().getPos().getX() > 5) { if (!(fabs(deltaY) <= 4 && (fabs(deltaX) <= 2 || blockPoint.x <= worldModel->getBody().getPos().getX())))// || deltaX < -4.5) return AD_MIN_VALUE; break; } else if (worldModel->getBall().getPos().getX() > -30) { LOG << "SALAM Block 1 : Dx,Dy" << deltaX << " " << deltaY << endl;// if (!((fabs(deltaY) <= 4 && (fabs(deltaX) <= 4 || blockPoint.x <= worldModel->getBody().getPos().getX())) || (fabs(deltaY) <= 4 && (deltaX <= 0 || blockPoint.x <= worldModel->getBody().getPos().getX()))))// || deltaX < -4.5) return AD_MIN_VALUE; break;// } else { if (!(fabs(deltaY) <= 4 && (fabs(deltaX) <= 4 || blockPoint.x <= worldModel->getBody().getPos().getX())))// || deltaX < -4.5) return AD_MIN_VALUE; break; } break; } }//////////////////////////////////// if (worldModel->getBody().getPostNum() == 6 || worldModel->getBody().getPostNum() == 7) if (blockPoint.x < worldModel->getTmmOffsideLine() && worldModel->getBody().getPos().getX() != worldModel->getTmmOffsideLine()) { LOG << "AKHARIN TOF" << endl; blockPoint.x = worldModel->getTmmOffsideLine();// return AD_MIN_VALUE; } LOG << "BLOCK fabs(blockAbsVector.getDirection() ( > 110) : " << fabs(blockAbsVector.getDirection()) << endl; LOG << "BLOCK fabs(blockAbsVector.getY()) : ( < 8 )" << fabs(blockAbsVector.getY()) << endl; float maxYBlockDist = 5; maxYBlockDist += (fabs(blockAbsVector.getDirection()) - 130) / 25.00; maxYBlockDist = min(maxYBlockDist, float(10)); if (fabs(blockAbsVector.getDirection()) > 155 && fabs(blockAbsVector.getY()) < maxYBlockDist && worldModel->getBall().getPos().getX() > -35) {// blockPoint = changedBlockPoint;// minTurnAngle = 16; // LOG << "blockPoint changed to changedBlockPoint ;)" << endl; } float distToBlockPoint = blockPointToMeVector.getMagnitude(); LOG << "------- -- MEISAM 2005 Block New method -- ----------" << endl; LOG << "distance to blockPoint : " << distToBlockPoint << endl; LOG << "-----------------------------------------------------" << endl; float minDistAction = 1; float bigDist = 2.8, smallDist = 1.8; float bigAngle = 60, smallAngle = 45; if (((worldModel->getBody().getPostNum() == 3 && blockPoint.y < worldModel->getBody().getPos().getY()) || (worldModel->getBody().getPostNum() == 4 && blockPoint.y > worldModel->getBody().getPos().getY()))) { smallDist = 2.4; } if (distToBlockPoint < bigDist) { if ((fabs(blockAbsVector.getDirection()) < smallAngle || (fabs(blockAbsVector.getDirection()) < bigAngle && distToBlockPoint < smallDist)) && worldModel->getBallStatus() == BS_KICKABLE_OPP && !((worldModel->getBody().getPostNum() <= 5) && worldModel-> getCurInterCalculate().getFastestPlayer().getPos().getX() > 0)) { LOG << "Meisam2005 blockPoint is changed to enemy position " << endl; blockPoint = worldModel->getCurInterCalculate(). getFastestPlayer().getPos(); minDistAction = .4; LOG << "Meisam2005 changed blockPoint : " << blockPoint << endl; } } LOG << "latest blockPoint : " << blockPoint << endl; blockCommand = PreciseGotoPoint(AT_BLOCK, blockPoint, minDistAction, worldModel->getBody(), 0, minTurnAngle).getCommand(); if (blockCommand == NULL) blockCommand = new EmptyCommand(AT_BLOCK); return AD_ALWAYS_RUN_VALUE;}Block::Block(const WorldModel *worldModel): AdvancedAction(worldModel){}void Block::execute(Form &form, const Library &library){ LOG << "Block::execute" << endl; command = blockCommand;}Block::~Block(){}?? 快捷鍵說明
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