?? srpdribbleplan.cpp
字號:
/* * 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: Sassan Haradji * * Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. * For more information please read README file.*/#include <SRPDribblePlan.h>#include <Logger.h>using namespace std;SRPDribblePlan::SRPDribblePlan(const WorldModel *wm, Form &form, const Library &library) : Plan("SRPDribble", wm, form, library), basicSRPDribble(new SRPDribble(wm)), finished(false), getVal(false){}SRPDribblePlan::~SRPDribblePlan(){ delete basicSRPDribble;}void SRPDribblePlan::decide(){ LOG << "SRPDribblePlan::decide" << endl; if (!getVal || valSetCycle != wm->getCurCycle()) value = basicSRPDribble->getValue(library) - 20; valSetCycle = wm->getCurCycle(); getVal = true; basicSRPDribble->execute(form, library); finished = true; throw basicSRPDribble->getCommand();}double SRPDribblePlan::successRate(){ if (!getVal || valSetCycle != wm->getCurCycle()) value = basicSRPDribble->getValue(library) * 1.15 + 40; valSetCycle = wm->getCurCycle(); getVal = true; if (value < -200) return 0; return value / 1000 + .2;}bool SRPDribblePlan::isFinished(){ if (wm->isBallKickable()) return finished; return true;}
?? 快捷鍵說明
復制代碼
Ctrl + C
搜索代碼
Ctrl + F
全屏模式
F11
切換主題
Ctrl + Shift + D
顯示快捷鍵
?
增大字號
Ctrl + =
減小字號
Ctrl + -