UVA.tar.gz_UVA_robocup

/* Copyright (c) 2000-2003, Jelle Kok, University of Amsterdam All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the University of Amsterdam nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ /* 这个Basic Player模块记录了所有的球员基本技能，它仅仅负责指定生成动作用于记录到命令队列，而不会进行高层的决策判断。 有些关键动作一个周期只允许发送一次，但是一些动作是允许在一个一个周期内执行多个的，比如转动脖子指令。 注释修改：05计算机2 席浩洋 */ /*! \file BasicPlayer.cpp <pre> <b>File:</b> BasicPlayer.cpp <b>Project:</b> Robocup Soccer Simulation Team: UvA Trilearn <b>Authors:</b> Jelle Kok <b>Created:</b> 10/12/2000 <b>Last Revision:</b> $ID$ <b>Contents:</b> This file contains the class declaration for the BasicPlayer. The BasicPlayer is the class where the available skills for the agent are defined. <hr size=2> <h2><b>Changes</b></h2> <b>Date</b> <b>Author</b> <b>Comment</b>: 10/12/2000 Jelle Kok Initial version created </pre> */ #include "BasicPlayer.h" #include "Parse.h" // parseFirstInt /********************** LOW-LEVEL SKILLS *************************************/ /********************** 低层次技术动作 *************************************/ /*! This skill enables an agent to align his neck with his body. It returns a turn neck command that takes the angle of the agent's body relative to his neck as its only argument. \return SoccerCommand turn_neck command that aligns neck with body */ /* 这个命令用于让球员将脖子转向身体前方（于Body同向） 返回一个让球员脖子转向和身体同向的命令 */ SoccerCommand BasicPlayer::alignNeckWithBody( ) { return SoccerCommand( CMD_TURNNECK, WM->getAgentBodyAngleRelToNeck( ) );//取得脖子和身体的相对角度 } /*! This skill enables an agent to turn his body towards a given point. It receives a global position 'pos' on the field and returns a turn command that will turn the agent's body towards this point. To this end the agent's global position in the next cycle is predicted based on his current velocity. This is done to compensate for the fact that the remaining velocity will move the agent to another position in the next cycle. The global angle between the given position and the predicted position is then determined after which the agent's global body direction is subtracted from this angle in order to make it relative to the agent's body. Finally, the resulting angle is normalized and adjusted to compensate for the inertia moment and speed of the agent. If it is impossible to turn towards the given position in a single cycle then the agent turns as far as possible. \param pos position to which body should be turned \param iCycles denotes the number of cycles that are used to update the the agent position. The resulting position is compared with 'pos' to determine the desired turning angle. \return SoccerCommand turn command to turn body to the desired point */ /* 这个函数用于将身体转向一个绝对点，当无法进行那么大角度的转动，则尽力的转动最大角度 pos : 参数指定绝对点 iCycles = 1 : 预测当前球员于几个周期后的位置，然后会以那个点为基点进行转身，默认计算一个周期之后的位置 返回一个转体指令 （之后的所有返回，因为和功能类似所以不再赘述）*/ SoccerCommand BasicPlayer::turnBodyToPoint( VecPosition pos, int iCycles ) { VecPosition posGlobal = WM->predictAgentPos(iCycles, 0);//预测iCycles周期后当前球员的位置 AngDeg angTurn = (pos - posGlobal).getDirection();//取得需要转到的方向 angTurn -= WM->getAgentGlobalBodyAngle();//取得需要转到的方向和球员的向对角度 angTurn = VecPosition::normalizeAngle( angTurn );//将角度标准化 angTurn = WM->getAngleForTurn( angTurn, WM->getAgentSpeed(), WM->getAgentObjectType() );//取得转向速度等参数 return SoccerCommand( CMD_TURN, angTurn );//生成命令 } /*! This skill enables an agent to turn his back towards a given point 'pos'. The only difference between this skill and turnBodyToPoint is that the angle between the given position and the predicted position of the agent in the next cycle is now made relative to the back of the agent by subtracting the agent's global back direction. This skill can for example be used by the goalkeeper in case he wants to move back to his goal while keeping sight of the rest of the field. \param pos position to which the agent's back should be turned \param iCycles denotes the number of cycles that are used to update the the agent position. The resulting position is compared with 'pos' to determine the desired turning angle. \return SoccerCommand command to turn agent's back to the desired point */ /* 这个函数的功能类似上一个函数，不同的是它将身体背对一个点，主要用于看着球后退 */ SoccerCommand BasicPlayer::turnBackToPoint( VecPosition pos, int iCycles ) { VecPosition posGlobal = WM->predictAgentPos(iCycles, 0); AngDeg angTurn = (pos - posGlobal).getDirection(); angTurn -= (WM->getAgentGlobalBodyAngle() + 180); angTurn = VecPosition::normalizeAngle( angTurn ); angTurn = WM->getAngleForTurn( angTurn, WM->getAgentSpeed(), WM->getAgentObjectType() ); return SoccerCommand( CMD_TURN, angTurn ); } /*! This skill enables an agent to turn his neck towards a given point. It receives a global position 'pos' on the field as well as a primary action command 'soc' that will be executed by the agent at the end of the current cycle and returns a turn neck command that will turn the agent's neck towards 'pos'. To this end the agent's global position and neck direction after executing the cmd command are predicted using methods from the world model. The global angle between the given position and the predicted position is then determined after which the predicted neck direction is subtracted from this angle in order to make it relative to the agent's neck. Finally, the resulting angle is normalized and directly passed as an argument to the turn neck command since the ac