?? positioning.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 <Logger.h>#include <BasicDash.h>#include <BasicTurn.h>#include <Positioning.h>#include <Basics.h>#include <cmath>using namespace std;Positioning::Positioning(const WorldModel *worldModel): worldModel(worldModel){ coorseVar = false; setSimplePos();}void Positioning::setSimplePos(){ attraction[0] = .35; ballPos[0] = Point(-52.5, 0); playerPos[0][4] = Point(-49, 9); playerPos[0][2] = Point(-49, -3); playerPos[0][3] = Point(-49, 3); playerPos[0][1] = Point(-49, -9); playerPos[0][5] = Point(-34, 17); playerPos[0][7] = Point(-44, 0); playerPos[0][6] = Point(-34, -17); playerPos[0][8] = Point(-13, 0); playerPos[0][9] = Point(-10, -20); playerPos[0][10] = Point(-10, 20); attraction[1] = .35; ballPos[1] = Point(-23, 0); playerPos[1][4] = Point(-30, 15); playerPos[1][2] = Point(-30, -5); playerPos[1][3] = Point(-30, 5); playerPos[1][1] = Point(-30, -15); playerPos[1][5] = Point(-20, 10); playerPos[1][7] = Point(-25, 0); playerPos[1][6] = Point(-20, -10); playerPos[1][8] = Point(0, 0); playerPos[1][9] = Point(0, -18); playerPos[1][10] = Point(0, 18); attraction[3] = .35; ballPos[3] = Point(17, 0); playerPos[3][4] = Point(14, 16); playerPos[3][2] = Point(14, -5.8); playerPos[3][3] = Point(14, 5.8); playerPos[3][1] = Point(14, -16); playerPos[3][5] = Point(20, 10); playerPos[3][7] = Point(15, 0); playerPos[3][6] = Point(20, -10); playerPos[3][8] = Point(24, 0); playerPos[3][9] = Point(23, -20); playerPos[3][10] = Point(23, 20); attraction[2] = .35; ballPos[2] = Point(0, 0); for (int i = 1; i < 11; i++) { playerPos[2][i].x = playerPos[1][i].x + (((ballPos[2].x - ballPos[1].x) / (ballPos[3].x - ballPos[1].x)) * (playerPos[3][i].x - playerPos[1][i].x)); playerPos[2][i].y = playerPos[1][i].y + (((ballPos[2].x - ballPos[1].x) / (ballPos[3].x - ballPos[1].x)) * (playerPos[3][i].y - playerPos[1][i].y)); } attraction[7] = .35; ballPos[7] = Point(52.5, 0); playerPos[7][4] = Point(10, 15); playerPos[7][2] = Point(0, -10); playerPos[7][3] = Point(0, 10); playerPos[7][1] = Point(10, -15); playerPos[7][5] = Point(50, 15); playerPos[7][7] = Point(17, 0); playerPos[7][6] = Point(50, -15); playerPos[7][8] = Point(49, 0); playerPos[7][9] = Point(48, -(+40)); playerPos[7][10] = Point(48, -(-40)); attraction[4] = .35; ballPos[4] = Point(24, 0); for (int i = 1; i < 11; i++) { playerPos[4][i].x = playerPos[3][i].x + (((ballPos[4].x - ballPos[3].x) / (ballPos[7].x - ballPos[3].x)) * (playerPos[7][i].x - playerPos[3][i].x)); playerPos[4][i].y = playerPos[3][i].y + (((ballPos[4].x - ballPos[3].x) / (ballPos[7].x - ballPos[3].x)) * (playerPos[7][i].y - playerPos[3][i].y)); } attraction[5] = .4; ballPos[5] = Point(52.5, 0); playerPos[5][4] = Point(10, 15); playerPos[5][2] = Point(0, -10); playerPos[5][3] = Point(0, 10); playerPos[5][1] = Point(10, -15); playerPos[5][5] = Point(35, 10); playerPos[5][7] = Point(17, 0); playerPos[5][6] = Point(35, -10); playerPos[5][8] = Point(51, 0); playerPos[5][9] = Point(50, -3); playerPos[5][10] = Point(50, 3);}void Positioning::setHomePoints(){ int region; for (region = 0; region < 6; region++) { if (worldModel->getBall().getPos().getX() < ballPos[0].x) { region = 0; break; } if (worldModel->getBall().getPos().getX() > ballPos[4].x) { region = 4; break; } if (worldModel->getBall().getPos().getX() < ballPos[region + 1].x) break; } float attract = .3; for (int i = 1; i < 11; i++) { LOG << "MEISAM2005 Positioning aaaaah : REGION : " << region << endl; basicPos[i].x = playerPos[region][i].x + (((worldModel->getBall().getPos().getX() - ballPos[region].x) / (ballPos[region + 1].x - ballPos[region].x)) * (playerPos[region + 1][i].x - playerPos[region][i].x)); basicPos[i].y = playerPos[region][i].y + (((worldModel->getBall().getPos().getX() - ballPos[region].x) / (ballPos[region + 1].x - ballPos[region].x)) * (playerPos[region + 1][i].y - playerPos[region][i].y)); attract = attraction[region] + (((worldModel->getBall().getPos().getX() - ballPos[region].x) / (ballPos[region + 1].x - ballPos[region].x)) * (attraction[region + 1] - attraction[region]));// if ((i == 3 || i == 2 || (i == 1 && worldModel->getBall().getPos().getY() > 0)// || (i == 4 && worldModel->getBall().getPos().getY() < 0)// || i == 7) && // worldModel->getBall().getPos().getX() < 60)// attract = .05; /////////////////PLAYER 9&10&11 BEG BUUUUUUUUUUUUUGGGG LFOKJGJ// HHHHHHHHHHHHEEEEEEEEEEEEEEEEEEEELLLLLLLLLLLLLLLLLLLLPPPPPPPPPPPPPPP if (i == 9 && worldModel->getBall().getPos().getX() > 40 && fabs(worldModel->getBall().getPos().getY()) < 15) attract = .1; if (i == 10 && worldModel->getBall().getPos().getX() > 40 && fabs(worldModel->getBall().getPos().getY()) < 15) attract = .1; if (i == 11 && worldModel->getBall().getPos().getX() > 40 && fabs(worldModel->getBall().getPos().getY()) < 15) attract = .1; /////////////////PLAYER 9&10&11 END if (i == 8 && basicPos[i].x > 44.5) basicPos[i].x = 44.5; ///////////////////////OFFENSE SECTION if (i == 5 && worldModel->getBall().getPos().getY() < -5 && worldModel->getBall().getPos().getX() > 35) { attract = 2; basicPos[i].x -= 0; if (basicPos[i].x > 39) basicPos[i].x = 39; } if (i == 5 && worldModel->getBall().getPos().getY() < -5 && worldModel->getBall().getPos().getX() > 45) { attract = 2; basicPos[i].x -= 0; if (basicPos[i].x > 40) basicPos[i].x = 40; } if (i == 6 && worldModel->getBall().getPos().getY() > 5 && worldModel->getBall().getPos().getX() > 35) { attract = 2; basicPos[i].x -= 0; if (basicPos[i].x > 39) basicPos[i].x = 39; } if (i == 6 && worldModel->getBall().getPos().getY() > 5 && worldModel->getBall().getPos().getX() > 45) { attract = 2; basicPos[i].x -= 0; if (basicPos[i].x > 40) basicPos[i].x = 40; } ///////////////////////OFFENSE SECTION basicPos[i].y += worldModel->getBall().getPos().getY() * attract; if ((i == 2 || i == 3) && basicPos[i].x > -1) basicPos[i].x = -1; if ((i == 1 || i == 4) && basicPos[i].x > -1 && worldModel->getBall().getPos().getX() < 17) basicPos[i].x = -1; if ((i == 1 || i == 4) && basicPos[i].x > 5) basicPos[i].x = 4;//ghame ma'navi if (i == 7 && basicPos[i].x > 4 && //ghame ma'navi worldModel->getBall().getPos().getX() < 25)//ghame ma'navi basicPos[i].x = 4;//ghame ma'navi if (i == 7 && basicPos[i].x > -1 && //ghame ma'navi worldModel->getBall().getPos().getX() < 17)//ghame ma'navi basicPos[i].x = -1;//ghame ma'navi if (i == 7 && basicPos[i].x > 8)//ghame ma'navi basicPos[i].x = 8;////////////////////THISO IFS if ((i <= 4 || i == 7) && worldModel->getBall().getPos().getX() > -28 && worldModel->getBall().getPos().getX() < 0) {// float unitStep = 6;// float deffStep = ((int)(worldModel->getBall().getPos().getX() / // unitStep) - 1) * unitStep;// basicPos[i].x = deffStep; } if (i == 3) LOG << "MEISAM2005 positioning: basicPos[3] A : " << basicPos[i] << endl; if (i == 2 || i == 3) { float maxXFor34 = getMaxXFor34(); if (worldModel->getBall().getPos().getX() > -38) { if (basicPos[i].x > maxXFor34 + ENSEJAM_MAX_X) basicPos[i].x = maxXFor34 + ENSEJAM_MAX_X; } else { if (basicPos[i].x > maxXFor34 + 7) basicPos[i].x = maxXFor34 + 7; } LOG << "maxXFor3&4 : " << maxXFor34 << endl; } if (i == 7 && worldModel->getBall().getPos().getX() > -38) {//ghame ma'navi float maxXFor7 = getMaxXFor7();//ghame ma'navi float extraFor7 = 3.6;//ghame ma'navi if (basicPos[i].x > maxXFor7 + extraFor7)//ghame ma'navi basicPos[i].x = maxXFor7 + extraFor7;//ghame ma'navi LOG << "maxXFor7 : " << maxXFor7 << endl; }////////////////////THISO IFS float offsideLine = worldModel->getOppOffsideLine(); LOG << "oppOffsideLine : " << offsideLine << endl; offsideLine -= 3.5; if ((i == 9 || i == 10) && worldModel->getBall().getPos().getX() > 38) { basicPos[i].x = fmax(worldModel->getBall().getPos().getX(), basicPos[i].x); basicPos[i].x = fmin(basicPos[i].x, 50); } if (i == 10 && basicPos[i].y < -2) basicPos[i].y = -2; if (i == 9 && basicPos[i].y > 2) basicPos[i].y = 2; if (basicPos[i].y > 32) basicPos[i].y = 32; if (basicPos[i].y < -32) basicPos[i].y = -32;////////////////Akharin rooz : begin if (i == 9 && worldModel->getBall().getPos().getX() > 36 && worldModel->getBall().getPos().getY() < -7) { float extraX; if (worldModel->getBall().getPos().getY() < -28) extraX = 7; else extraX = Basics::reRate( fabs(worldModel->getBall().getPos().getY()), 7, 28, 0, 7); basicPos[i].x -= extraX; if (basicPos[i].x < 36) basicPos[i].x = 36; basicPos[i].y -= 1.5; } if (i == 10 && worldModel->getBall().getPos().getX() > 36 && worldModel->getBall().getPos().getY() > 7) { float extraX; if (worldModel->getBall().getPos().getY() > 28) extraX = 7; else extraX = Basics::reRate( fabs(worldModel->getBall().getPos().getY()), 7, 28, 0, 7); basicPos[i].x -= extraX; if (basicPos[i].x < 36) basicPos[i].x = 36; basicPos[i].y += 1.5; } if (i == 8 && worldModel->getBall().getPos().getX() > 40 && fabs(worldModel->getBall().getPos().getY()) > 7) { float extraX; if (fabs(worldModel->getBall().getPos().getY()) > 25) extraX = 3; else extraX = Basics::reRate( fabs(worldModel->getBall().getPos().getY()), 7, 25, 0, 3); basicPos[i].x -= extraX; if (basicPos[i].x < 36) basicPos[i].x = 36; } if (i == 9 && worldModel->getBall().getPos().getX() > 36 && worldModel->getBall().getPos().getY() > 5) { float extraX; if (worldModel->getBall().getPos().getY() > 15) extraX = 0; else extraX = Basics::reRate( fabs(worldModel->getBall().getPos().getY()), 5, 15, 0, 0); basicPos[i].x += extraX; if (basicPos[i].x > 51) basicPos[i].x = 51; } if (i == 10 && worldModel->getBall().getPos().getX() > 36 && worldModel->getBall().getPos().getY() < -5) { float extraX; if (worldModel->getBall().getPos().getY() < -15) extraX = 0; else extraX = Basics::reRate( fabs(worldModel->getBall().getPos().getY()), 5, 15, 0, 0); basicPos[i].x += extraX; if (basicPos[i].x > 51) basicPos[i].x = 51; } ////////////////Akharin rooz : end ///////////////////////OFFENSE SECTION if (i == 5 && basicPos[i].y < 0 && worldModel->getBall().getPos().getX() > 35) basicPos[i].y = 0; if (i == 6 && basicPos[i].y > 0 && worldModel->getBall().getPos().getX() > 35) basicPos[i].y = 0;///////////////////////OFFENSE SECTION if (i == 1 || i == 2 || i == 3 || i == 4) if (basicPos[i].x > -1) basicPos[i].x = -1; //Meisam2005 if (i == 1 && worldModel->getBall().getPos().getX() > 15) { basicPos[i].x += worldModel->getBall().getPos().getX() * .2; if (worldModel->getBall().getPos().getY() >= 0) basicPos[i].x -= fabs(worldModel->getBall().getPos().getY()) * .2; if (worldModel->getBall().getPos().getY() < 0) basicPos[i].x += fabs(worldModel->getBall().getPos().getY()) * .2; if (basicPos[i].x < -1) basicPos[i].x = -1; LOG << "Meisam2005 Positioning : basicPos[1]" << basicPos[i].x << endl; } if (i == 4 && worldModel->getBall().getPos().getX() > 15) { basicPos[i].x += worldModel->getBall().getPos().getX() * .2; if (worldModel->getBall().getPos().getY() < 0) basicPos[i].x -= fabs(worldModel->getBall().getPos().getY()) * .2; if (worldModel->getBall().getPos().getY() >= 0) basicPos[i].x += fabs(worldModel->getBall().getPos().getY()) * .2; if (basicPos[i].x < -1) basicPos[i].x = -1; LOG << "Meisam2005 Positioning : basicPos[4]" << basicPos[i].x << endl; }//Meisam2005 if (i == 3) LOG << "MEISAM2005 positioning: basicPos[3] B : " << basicPos[i] << endl; if (i == 8 && worldModel->getBall().getPos().getX() < 36) { basicPos[i].y += min(worldModel->getBall().getPos().getY() * .3 , 6.00); basicPos[i].y = min(basicPos[10].y - 7 , basicPos[i].y); basicPos[i].y = max(basicPos[9].y + 7 , basicPos[i].y); } if (i >= 8) { if (coorseVar == false) { if (basicPos[i].x - worldModel->getBody().getPos().getX() > 8 && worldModel->getBall().getPos().getX() > 0 && abs(worldModel->getBody().getPos().getY() - basicPos[i].y) < 8) { coorseVar = true; basicPos[i].y = worldModel->getBody().getPos().getY(); LOG << "Meisam2005 coorseVar 1 " << endl; } } else { if (basicPos[i].x - worldModel->getBody().getPos().getX() > 6 && worldModel->getBall().getPos().getX() > 0 && abs(worldModel->getBody().getPos().getY() - basicPos[i].y) < 10) { coorseVar = true; basicPos[i].y = worldModel->getBody().getPos().getY(); LOG << "Meisam2005 coorseVar 2 " << endl; } } } if (i == 5 || i == 6) { if (coorseVar == false) { if (basicPos[i].x - worldModel->getBody().getPos().getX() > 6 && worldModel->getBall().getPos().getX() > 0 && abs(worldModel->getBody().getPos().getY() - basicPos[i].y) < 8) { coorseVar = true; basicPos[i].y = worldModel->getBody().getPos().getY(); LOG << "Meisam2005 coorseVar 1 " << endl; } } else { if (basicPos[i].x - worldModel->getBody().getPos().getX() > 4 && worldModel->getBall().getPos().getX() > 0 && abs(worldModel->getBody().getPos().getY() - basicPos[i].y) < 10) { coorseVar = true; basicPos[i].y = worldModel->getBody().getPos().getY(); LOG << "Meisam2005 coorseVar 2 " << endl; } } }?? 快捷鍵說明
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