?? getcapability.cc
字號:
#include "cankickleft.ih"Behavior::ConfidenceInterval CanKickLeft::getCapability(rf<Behavior::State> s, rf<Behavior::Goal> g){ WorldModel& wm = WorldModel::getInstance(); Vector3D ballPos = wm.getObjectPosition(Types::BALL).getMu(); if (ballPos.getX() > 0 && ballPos.getX() < 1.5 && ballPos.getY() > 0 && ballPos.getY() < 0.7) return ConfidenceInterval(0.5, 0.2); return ConfidenceInterval(-1.0, 0.0); /*_debugLevel4("WalkStraightTo::getCapability"); rf<StateVarNode> gameStateNode = rf_cast<StateVarNode>(s->findDeep("GameState")); if (!gameStateNode) { _debugLevel1("WalkStraightTo doesn't understand!"); return ConfidenceInterval(-1.0, 0.0); } StateVar gameState = gameStateNode->getVar(); */ /*WorldModel& wm = WorldModel::getInstance(); NormalDistribution3D BallInfo = wm.getObjectPosition(Types::BALL); Vector3D ballPosCar = BallInfo.getMu(); double ballX = ballPosCar.getX(); double ballY = ballPosCar.getY(); // Distance from foot to ball (not from camera) double distToBall = sqrt(ballX * ballX + ballY * ballY); Vector3D ballPosPol = wm.get(WorldModel::iVisionBall); double angleToBall = ballPosPol.getY() / M_PI * 180; double angle = 20.0; if (distToBall > 1.5 || angleToBall < -angle || angleToBall > 0) { _debugLevel3("Too far to kick."); return ConfidenceInterval(-1.0, 0.0); } cout << "shieT!" << endl; _debugLevel4("Capable"); return ConfidenceInterval(0.5, 0.2); */}?? 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 + -