int _tmain(int argc, _TCHAR* argv[])
{
asio::io_service ios;
ip::tcp::socket soc(ios);
soc.async_connect(ip::tcp::endpoint(ip::address::from_string("127.0.0.1"), 31400),
connect_handle);
for (;;)
{
ios.run();
// ios.poll();
// soc.close();
Sleep(10);
}
return 0;
}
/*!This method is the first complete simple team and defines the actions taken
by all the players on the field (excluding the goalie). It is based on the
high-level actions taken by the simple team FC Portugal that it released in
2000. The players do the following:
- if ball is kickable
kick ball to goal (random corner of goal)
- else if i am fastest player to ball
intercept the ball
- else
move to strategic position based on your home position and pos ball */
SoccerCommand Player::deMeer5( )
{
SoccerCommand soc(CMD_ILLEGAL);
VecPosition posAgent = WM->getAgentGlobalPosition();
VecPosition posBall = WM->getBallPos();
int iTmp;
if( WM->isBeforeKickOff( ) )
{
if( WM->isKickOffUs( ) && WM->getPlayerNumber() == 9 ) // 9 takes kick
{
if( WM->isBallKickable() )
{
VecPosition posGoal( PITCH_LENGTH/2.0,
(-1 + 2*(WM->getCurrentCycle()%2)) *
0.4 * SS->getGoalWidth() );
soc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maximal
Log.log( 100, "take kick off" );
}
else
{
soc = intercept( false );
Log.log( 100, "move to ball to take kick-off" );
}
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
return soc;
}
if( formations->getFormation() != FT_INITIAL || // not in kickoff formation
posAgent.getDistanceTo( WM->getStrategicPosition() ) > 2.0 )
{
formations->setFormation( FT_INITIAL ); // go to kick_off formation
ACT->putCommandInQueue( soc=teleportToPos( WM->getStrategicPosition() ));
}
else // else turn to center
{
ACT->putCommandInQueue( soc=turnBodyToPoint( VecPosition( 0, 0 ), 0 ) );
ACT->putCommandInQueue( alignNeckWithBody( ) );
}
}
else
{
formations->setFormation( FT_433_OFFENSIVE );
soc.commandType = CMD_ILLEGAL;
if( WM->getConfidence( OBJECT_BALL ) < PS->getBallConfThr() )
{
ACT->putCommandInQueue( soc = searchBall() ); // if ball pos unknown
ACT->putCommandInQueue( alignNeckWithBody( ) ); // search for it
}
else if( WM->isBallKickable()) // if kickable
{
VecPosition posGoal( PITCH_LENGTH/2.0,
(-1 + 2*(WM->getCurrentCycle()%2)) * 0.4 * SS->getGoalWidth() );
soc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maxima
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
Log.log( 100, "kick ball" );
}
else if( WM->getFastestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL, &iTmp )
== WM->getAgentObjectType() && !WM->isDeadBallThem() )
{ // if fastest to ball
Log.log( 100, "I am fastest to ball; can get there in %d cycles", iTmp );
soc = intercept( false ); // intercept the ball
if( soc.commandType == CMD_DASH && // if stamina low
WM->getAgentStamina().getStamina() <
SS->getRecoverDecThr()*SS->getStaminaMax()+200 )
{
soc.dPower = 30.0 * WM->getAgentStamina().getRecovery(); // dash slow
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else // if stamina high
{
ACT->putCommandInQueue( soc ); // dash as intended
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
}
else if( posAgent.getDistanceTo(WM->getStrategicPosition()) >
1.5 + fabs(posAgent.getX()-posBall.getX())/10.0)
// if not near strategic pos
{
if( WM->getAgentStamina().getStamina() > // if stamina high
SS->getRecoverDecThr()*SS->getStaminaMax()+800 )
{
soc = moveToPos(WM->getStrategicPosition(),
PS->getPlayerWhenToTurnAngle());
ACT->putCommandInQueue( soc ); // move to strategic pos
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else // else watch ball
{
ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
}
else if( fabs( WM->getRelativeAngle( OBJECT_BALL ) ) > 1.0 ) // watch ball
{
ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else // nothing to do
ACT->putCommandInQueue( SoccerCommand(CMD_TURNNECK,0.0) );
}
return soc;
}
/******************************************************************************
* Class AccountPage :: command - Catch and process command events. *
******************************************************************************/
bool AccountPage::command( ICommandEvent& cmdEvent )
{
IString
theUser = userId.text(),
theNode = nodeSys.text();
LAcctData::Rule
theRule = LAcctData::na;
bool
rc = false;
unsigned int
count = 0;
/*-----------------------------------------------------------------------------
| Create a container object cursor based on the selected objects. |
| Process the command events. |
-----------------------------------------------------------------------------*/
IContainerControl::ObjectCursor
soc( *pCnr, IContainerObject::selected );
switch ( cmdEvent.commandId() )
{
/*-----------------------------------------------------------------------------
| User pressed the UNDO button. |
| Reset the account data to the original account data. |
| Reset the container. |
| Reset the entryfields. |
-----------------------------------------------------------------------------*/
case ID_BUTTON_UNDO:
{
acctData = origAcctData;
fillCnr();
userId.setText( "" );
nodeSys.setText( "" );
rc = true;
break;
}
/*-----------------------------------------------------------------------------
| User pressed the REMOVE button. |
| Iterate through the selected objects, |
| remove the object from the the database. |
-----------------------------------------------------------------------------*/
case ID_BUTTON_REMOVE:
{
for ( soc.setToFirst();
soc.isValid();
soc.setToNext() )
{
AcctCnrObj
*pObj = (AcctCnrObj *) soc.current();
acctData.putItem( pObj->getUserId(),
pObj->getNode(),
LAcctData::remove );
++count;
}
/*-----------------------------------------------------------------------------
| If no container objects were selected, |
| notify the user. |
-----------------------------------------------------------------------------*/
if ( ! count )
{
IMessageBox
warning( owner() );
warning.show( STR_MSG_REMOVE,
IMessageBox::enterButton
| IMessageBox::informationIcon );
}
/*-----------------------------------------------------------------------------
| Else remove the selected objects from the container. |
| Refresh the container. |
-----------------------------------------------------------------------------*/
else
{
pCnr->removeSelectedObjects();
userId.setText( "" );
nodeSys.setText( "" );
pCnr->refresh();
}
rc = true;
break;
}
/*-----------------------------------------------------------------------------
| User pressed the CHANGE button. |
| Ignore all but the first selected container object. |
| Update the entryfields with the selected container object information. |
-----------------------------------------------------------------------------*/
case ID_BUTTON_CHANGE:
{
soc.setToFirst();
if ( soc.isValid() )
{
if ( theUser.length() )
{
changeAcct( theUser, theNode, (AcctCnrObj*) soc.current() );
userId.setText( "" );
nodeSys.setText( "" );
}
}
/*-----------------------------------------------------------------------------
| If no container objects were selected, |
| notify the user. |
-----------------------------------------------------------------------------*/
else
{
IMessageBox
warning( owner() );
warning.show( STR_MSG_CHANGE,
IMessageBox::enterButton
| IMessageBox::informationIcon );
}
/*-----------------------------------------------------------------------------
| Deselect any container objects. |
-----------------------------------------------------------------------------*/
unMark();
rc = true;
break;
}
/*-----------------------------------------------------------------------------
| User pressed the ADD button. |
| Add the entryfield information to the database and container. |
| Reset the entryfields. |
-----------------------------------------------------------------------------*/
case ID_BUTTON_ADD:
{
if ( theUser.length() )
{
addAcct( theUser, theNode );
userId.setText( "" );
nodeSys.setText( "" );
}
/*-----------------------------------------------------------------------------
| Deselect any container objects. |
-----------------------------------------------------------------------------*/
unMark();
rc = true;
break;
}
/*-----------------------------------------------------------------------------
| User pressed the HELP button. |
| Show the help for the account page. |
-----------------------------------------------------------------------------*/
case ID_BUTTON_HELP:
{
IHelpWindow::helpWindow( this )->
show( IResourceId( ID_ACCOUNT_PAGE ) );
rc = true;
break;
}
}
return rc;
};
void chol_inv(double a1_re[][4],double a1_im[][4],double b1_re[][4],double b1_im[][4])
{
//初始化
double d[4]={0}, L_re[4][4]={0};
double L_im[4][4]={0},d_i[4]={0},L_i_re[4][4]={0},L_i_im[4][4]={0},L_i_re2[4][4]={0},L_i_im2[4][4]={0},D_i_re[4][4]={0},D_i_im[4][4]={0};
double c_re[4][4]={0},c_im[4][4]={0};
double *p_re,*p_im,temp_re,temp_im;
int i,j;
p_re=&temp_re;
p_im=&temp_im;
for(i=0;i<4;i++)
{
L_re[i][i]=1;
L_i_re[i][i]=1;
}
//cholesky decomposition，Solution of d and L and d_i
d[0]=a1_re[0][0];
d_i[0]=1/d[0];
L_re[1][0]=a1_re[1][0]/d[0];
L_im[1][0]=a1_im[1][0]/d[0];
L_re[2][0]=a1_re[2][0]/d[0];
L_im[2][0]=a1_im[2][0]/d[0];
L_re[3][0]=a1_re[3][0]/d[0];
L_im[3][0]=a1_im[3][0]/d[0];
d[1]=a1_re[1][1]-d[0]*soc(L_re[1][0],L_im[1][0]);
d_i[1]=1/d[1];
mult(L_re[2][0],L_im[2][0],L_re[1][0],-L_im[1][0],p_re,p_im);
L_re[2][1]=(a1_re[2][1]-d[0]*temp_re)/d[1];
L_im[2][1]=(a1_im[2][1]-d[0]*temp_im)/d[1];
mult(L_re[3][0],L_im[3][0],L_re[1][0],-L_im[1][0],p_re,p_im);
L_re[3][1]=(a1_re[3][1]-d[0]*temp_re)/d[1];
L_im[3][1]=(a1_im[3][1]-d[0]*temp_im)/d[1];
d[2]=a1_re[2][2]-d[0]*soc(L_re[2][0],L_im[2][0])-d[1]*soc(L_re[2][1],L_im[2][1]);
d_i[2]=1/d[2];
mult(L_re[3][0],L_im[3][0],L_re[2][0],-L_im[2][0],p_re,p_im);
L_re[3][2]=a1_re[3][2]-d[0]*temp_re;
L_im[3][2]=a1_im[3][2]-d[0]*temp_im;
mult(L_re[3][1],L_im[3][1],L_re[2][1],-L_im[2][1],p_re,p_im);
L_re[3][2]=(L_re[3][2]-d[1]*temp_re)/d[2];
L_im[3][2]=(L_im[3][2]-d[1]*temp_im)/d[2];
d[3]=a1_re[3][3]-d[0]*soc(L_re[3][0],L_im[3][0])-d[1]*soc(L_re[3][1],L_im[3][1])-d[2]*soc(L_re[3][2],L_im[3][2]);
d_i[3]=1/d[3];
//L_i
L_i_re[1][0]=-L_re[1][0];
L_i_im[1][0]=-L_im[1][0];
mult(L_re[2][1],L_im[2][1],L_i_re[1][0],L_i_im[1][0],p_re,p_im);
L_i_re[2][0]=-(temp_re+L_re[2][0]);
L_i_im[2][0]=-(temp_im+L_im[2][0]);
mult(L_re[3][1],L_im[3][1],L_i_re[1][0],L_i_im[1][0],p_re,p_im);
L_i_re[3][0]=L_re[3][0]+temp_re;
L_i_im[3][0]=L_im[3][0]+temp_im;
mult(L_re[3][2],L_im[3][2],L_i_re[2][0],L_i_im[2][0],p_re,p_im);
L_i_re[3][0]=-(L_i_re[3][0]+temp_re);
L_i_im[3][0]=-(L_i_im[3][0]+temp_im);
L_i_re[2][1]=-L_re[2][1];
L_i_im[2][1]=-L_im[2][1];
mult(L_re[3][2],L_im[3][2],L_i_re[2][1],L_i_im[2][1],p_re,p_im);
L_i_re[3][1]=-(temp_re+L_re[3][1]);
L_i_im[3][1]=-(temp_im+L_im[3][1]);
L_i_re[3][2]=-L_re[3][2];
L_i_im[3][2]=-L_im[3][2];
//D_i
for(i=0;i<4;i++)
{
D_i_re[i][i]=d_i[i];
}
//(L_i)'
for(i=0;i<4;i++)
{
for(j=0;j<4;j++)
{
L_i_re2[i][j]=L_i_re[j][i];
L_i_im2[i][j]=-L_i_im[j][i];
}
}
//inverse matrix:(L_i)'*D_i*L_i
Matrix_mult444(L_i_re2,L_i_im2,D_i_re,D_i_im,c_re,c_im);
Matrix_mult444(c_re,c_im,L_i_re,L_i_im,b1_re,b1_im);
/*
FILE *fp1,*fp2;
fp1 = fopen("data.txt","w");
for( int i = 0 ; i < 4 ; i++){
for( int j = 0 ; j < 4 ; j++ ){
fprintf(fp1,"%lf\t",b1_re[i][j]);
}fprintf(fp1,"\n");
}
for( int i = 0 ; i < 4 ; i++){
for( int j = 0 ; j < 4 ; j++ ){
fprintf(fp1,"%lf\t",b1_im[i][j]);
}fprintf(fp1,"\n");
}
fclose(fp1);
*/
}
