/* *  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: Mohammad Salehe *  and is modified 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 <Clear.h>#include <Basics.h>#include <Logger.h>#include <BasicKick.h>#include <SayDecision.h>#include <AdvancedAgent.h>using namespace std;#define CLEAR_TO_PLAYER_DELTA_X 8#define CLEAR_LOG1// class ClearClear::Clear(const WorldModel *worldModel):		AdvancedAction(worldModel){}void Clear::execute(Form &form, const Library &library){	LOG << "Clear::execute" << endl;	command = clearCommand;	form.sayForm.beforePassSay = true;	form.sayForm.interceptNum = twoKickableInterceptNum;}float Clear::getValue(const Library &library){	Point kickPoint;	Vector goalVector;	int i;		twoKickableInterceptNum = 0;	float defaultClearWeight = 60;	LOG << "Clear::getValue" << endl;	if (!worldModel->isBallKickable())		return AD_MIN_VALUE;	if (worldModel->getBallStatus() == BS_KICKABLE_OPP ||		worldModel->getBallStatus() == BS_KICKABLE_BODY_OPP)	{		if (worldModel->getBall().getDistance(Point(52.5, 0)) < 16)		{#ifdef CLEAR_LOG1	LOG << "Clear::TwoKickable model 1" << endl;#endif			bool up;			const Player *player = worldModel->getOppGoalie();			if (player == NULL)			{				if (worldModel->getBall().getPos().getY() > 0)					up = true;				else					up = false;			}			else if (player->getPos().getY() > 0)				up = false;			else				up = true;			if (up)			{				Point gccGhat(52.5, 5.5);				clearCommand = FastKickToPoint(AT_CLEAR, gccGhat,					worldModel->getBall(), worldModel->getBody()).getCommand();			}			else			{				Point gccGhat(52.5, -5.5);				clearCommand = FastKickToPoint(AT_CLEAR, gccGhat,					worldModel->getBall(), worldModel->getBody()).getCommand();			}		}		else		{#ifdef CLEAR_LOG1	LOG << "Clear::TwoKickable model 2" << endl;#endif			bool up;			const Player *player = worldModel->getOppGoalie();			Point clearPoints[20];			int clearPointsNum = 0;			unsigned clearPlayers[20];			float clearWeights[20];			float teammateDistance;			float distanceWeight, offenseWeight;			float oppBallRate;			float oppBallRateMin;			float maxWeight;			int maxPointNum;			oppBallRateMin = 100;						for (i = 0; i < FULL_PLAYERS_NUM; i++)				if (worldModel->getFullPlayer(TID_OPPONENT, i).isValid())				{					oppBallRate = (worldModel->getFullPlayer(TID_OPPONENT, i).						getDistance(worldModel->getBall()) - worldModel->						getFullPlayer(TID_OPPONENT, i).getSize() - 						worldModel->getServerParam()["ball_size"].asFloat()) /						worldModel->getFullPlayer(TID_OPPONENT, i).getKickableMargin();					if (oppBallRate <= 1)					{						if (oppBallRate < oppBallRateMin)							oppBallRateMin = oppBallRate;					}				}			for (i = 0; i < HALF_PLAYERS_NUM; i++)				if (worldModel->getHalfPlayer(TID_OPPONENT, i).isValid())				{					oppBallRate = (worldModel->getHalfPlayer(TID_OPPONENT, i).						getDistance(worldModel->getBall()) - worldModel->						getHalfPlayer(TID_OPPONENT, i).getSize() - 						worldModel->getServerParam()["ball_size"].asFloat()) /						worldModel->getHalfPlayer(TID_OPPONENT, i).getKickableMargin();					if (oppBallRate <= 1)					{						if (oppBallRate < oppBallRateMin)							oppBallRateMin = oppBallRate;					}				}						if (oppBallRateMin > 10)				oppBallRateMin = 0.1;			else				oppBallRateMin = 1 - oppBallRateMin;#ifdef CLEAR_LOG1	LOG << "Clear:oppBallRateMin(multiplier)= " << oppBallRateMin << endl;#endif								for (i = 0; i < FULL_PLAYERS_NUM; i++)				if (worldModel->getFullPlayer(TID_TEAMMATE, i).isValid())				{					if (i + 1 == GOALIE_UNIFORM_NUM)						continue;					clearPoints[clearPointsNum] = worldModel->getFullPlayer(TID_TEAMMATE, i).						getPos();					clearPoints[clearPointsNum].x += CLEAR_TO_PLAYER_DELTA_X * oppBallRateMin;					clearPlayers[clearPointsNum] = i + 1;					teammateDistance = worldModel->getFullPlayer(TID_TEAMMATE, i).						getBodyVec().getMagnitude();					if (teammateDistance < 2)						distanceWeight = 10;					else if (teammateDistance >= 2 && teammateDistance < 20)						distanceWeight = Basics::reRate(teammateDistance,								2, 20, 10, 100);					else						distanceWeight = 9;					offenseWeight = Basics::reRate(worldModel->getFullPlayer(TID_TEAMMATE, i).						getPos().getX() - worldModel->getBody().getPos().getX(), -10, 18,						0, 100);					clearWeights[clearPointsNum] = distanceWeight * 0.5 + offenseWeight * 1.1;#ifdef CLEAR_LOG1	LOG << "Clear:addPlayer " << i + 1 << " weight=" <<		clearWeights[clearPointsNum] << " dw,ow=" << distanceWeight << " " <<		offenseWeight << endl;#endif					if (!FastKickToPoint(AT_CLEAR, clearPoints[clearPointsNum],						worldModel->getBall(), worldModel->getBody()).isPossible())					{#ifdef CLEAR_LOG1	LOG << "Clear:not possible " << endl; #endif						clearWeights[clearPointsNum] = AD_MIN_VALUE;					}					clearPointsNum++;				}			// Clear to opponent goal			if (worldModel->getBall().getDistance(Point(52.5, 0)) < 16)			{				if (player == NULL)				{					if (worldModel->getBall().getPos().getY() > 0)						up = true;					else						up = false;				}				else if (player->getPos().getY() > 0)					up = false;				else					up = true;				if (up)				{					clearPoints[clearPointsNum] = Point(52.5, 10);				}				else				{					clearPoints[clearPointsNum] = Point(52.5, -10);				}				clearPlayers[clearPointsNum] = 0;				clearWeights[clearPointsNum] = 90 + (worldModel->getBody().getPos().getX() - 20);#ifdef CLEAR_LOG1	LOG << "Clear:addGoal " << (up ? "up" : "down") << " weight=" <<#endif				clearWeights[clearPointsNum] << endl;				if (!FastKickToPoint(AT_CLEAR, clearPoints[clearPointsNum],					worldModel->getBall(), worldModel->getBody()).isPossible())				{#ifdef CLEAR_LOG1	LOG << "Clear:not possible " << endl; #endif					clearWeights[clearPointsNum] = AD_MIN_VALUE;				}				clearPointsNum++;			}						clearPoints[clearPointsNum] = Point(52.5, worldModel->getBody().getPos().getX());			clearPlayers[clearPointsNum] = 0;			clearWeights[clearPointsNum] = 1;#ifdef CLEAR_LOG1	LOG << "Clear:addDummy " << " weight=" << clearWeights[clearPointsNum] << endl;#endif			if (!FastKickToPoint(AT_CLEAR, clearPoints[clearPointsNum],				worldModel->getBall(), worldModel->getBody()).isPossible())			{#ifdef CLEAR_LOG1	LOG << "Clear:not possible " << endl; #endif				clearWeights[clearPointsNum] = AD_MIN_VALUE;			}			clearPointsNum++;					maxPointNum = 0;			maxWeight = -0xFFFF * 10;			for (i = 0; i < clearPointsNum; i++)				if (clearWeights[i] > maxWeight)				{					maxWeight = clearWeights[i];					maxPointNum = i;				}#ifdef CLEAR_LOG1	LOG << "Clear::selected =" << maxPointNum << " " << clearPoints[maxPointNum] << endl;	LOG << "Clear::selected player=" << clearPlayers[maxPointNum] << endl;#endif			if (maxWeight <= AD_MIN_VALUE)			{#ifdef CLEAR_LOG1	LOG << "Clear::all not possible =" << endl;#endif				if (worldModel->getBody().getPos().getY() >= 0)					clearCommand = new KickCommand(AT_CLEAR, 100, 50);				else					clearCommand = new KickCommand(AT_CLEAR, 100, -50);			}			else			{					clearCommand = FastKickToPoint(AT_CLEAR, clearPoints[maxPointNum],					worldModel->getBall(), worldModel->getBody()).getCommand();				twoKickableInterceptNum = clearPlayers[maxPointNum];			}		}		return AD_ALWAYS_RUN_VALUE;