void FreeKickStrategy::assignBeh()
{
GameModel *gm = GameModel::getModel();
BehaviorAssignment<KickToGoal> kickToGoalAssignment;
kickToGoalAssignment.setSingleAssignment(true);
kickToGoalAssignment.assignBeh(gm->getMyTeam().at(0));
}
void PenaltyStrategy::assignBeh()
{
GameModel* gamemodel = GameModel::getModel();
/* This BeheaviorAssignment assigns only once
* to myTeam[0]. setSingleAssignment is used to check
* if the robot already has the behavior. If it does,
* PenaltyBehavior is not assigned
*/
BehaviorAssignment<PenaltyBehavior> penAssignment;
penAssignment.setSingleAssignment(true);
penAssignment.assignBeh(gamemodel->getMyTeam().at(0));
}
/* This is the function that communicates outside the FPPA namespace to define
* obstacle information. In our case, that is getting the GameModel and all the robots
* from that. However, I would like to have this more generalized in the future.
*/
void buildObstacleCollection()
{
GameModel* mod = GameModel::getModel();
const auto& myTeam = mod->getMyTeam();
const auto& opTeam = mod->getOponentTeam();
currentFrameObstacles.clear();
currentFrameObstacles.reserve(myTeam.size() + opTeam.size() + 1);
for(Robot* rob : myTeam)
currentFrameObstacles.push_back(rob->getRobotPosition());
for(Robot* rob : opTeam)
currentFrameObstacles.push_back(rob->getRobotPosition());
currentFrameObstacles.push_back(mod->getBallPoint());
#if FPPA_DEBUG
// std::cout << "[FPPA] All Obstacles: " << std::endl;
//for(Point pt : *obstacles) std::cout << pt.toString() << std::endl;
#endif
}
void FreeKickStrategy::assignBeh()
{
GameModel *gm = GameModel::getModel();
vector <Robot*> myTeam;
myTeam = gm->getMyTeam();
if ((gm->getGameState() == 'F' && TEAM == TEAM_BLUE)
|| (gm->getGameState() == 'f' && TEAM == TEAM_YELLOW))
{
BehaviorAssignment<KickToGoal> kickToGoalAssignment;
kickToGoalAssignment.setSingleAssignment(true);
BehaviorAssignment<SimpleBehaviors> simpleAssignment;
simpleAssignment.setSingleAssignment(true);
BehaviorAssignment<DefendFarFromBall> golieAssignment;
golieAssignment.setSingleAssignment(true);
for (Robot* rob: myTeam)
{
if (rob->getID() == 5)
golieAssignment.assignBeh(rob);
}
Robot *closestRobot;
int closestRobotID;
Point ballPoint = gm->getBallPoint();
/*Finds the closest robot to the ball point (assuming the
* ball is where the robots should perform free kick)
* and its ID
* If there is only one robot on the field, that one robot
* will perform the free kick
* */
if (myTeam.size() == 1)
closestRobot = myTeam.at(0);
else if (myTeam.size() > 1)
{
if (myTeam.at(0)->getID() != 5)
closestRobot = myTeam.at(0);
else
closestRobot = myTeam.at(1);
for (unsigned i = 1; i < myTeam.size(); i++)
{
if (myTeam.at(i)->getID() != 5)
{
Point iPos = myTeam.at(i)->getRobotPosition();
Point closestPos = closestRobot->getRobotPosition();
if (Measurments::distance(iPos, ballPoint) < Measurments::distance(closestPos, ballPoint))
closestRobot = myTeam.at(i);
}
}
closestRobotID = closestRobot->getID();
}
kickToGoalAssignment.assignBeh(closestRobot); //lets the closest robot to the ball to perform the free kick
if (myTeam.size() > 1) // assigns simple behavior to the rest of robots
{
for (unsigned i = 0; i < myTeam.size(); i++)
{
if (myTeam.at(i)->getID() != closestRobotID && myTeam.at(i)->getID() != 5)
simpleAssignment.assignBeh(myTeam.at(i));
}
}
}
else if ((gm->getGameState() == 'f' && TEAM == TEAM_BLUE)
|| (gm->getGameState() == 'F' && TEAM == TEAM_YELLOW))
{
BehaviorAssignment<DefendFarFromBall> golieAssignment;
golieAssignment.setSingleAssignment(true);
for (Robot* rob: myTeam)
{
if (rob->getID() == 5)
golieAssignment.assignBeh(rob);
}
BehaviorAssignment<SimpleBehaviors> simpleAssignment;
simpleAssignment.setSingleAssignment(true);
for (unsigned i = 0; i < myTeam.size(); i++)
{
if (myTeam.at(i)->getID() != 5)
simpleAssignment.assignBeh(myTeam.at(i));
}
}
}