C++ (Cpp) Neck_TurnToBall Examples

Example #1

File: neck_for_mark.cpp Project: ohmy207/robocup2D

/*!

*/
bool
Neck_ForMark::execute( PlayerAgent * agent )
{
    dlog.addText( Logger::ACTION,
                  __FILE__": Neck_ForMark count_thr=%d",
                  M_count_thr );

    const WorldModel & wm = agent->world();

    const PlayerPtrCont & opps = wm.opponentsFromSelf();
    const PlayerObject * nearest_opp = ( opps.empty() ? static_cast< PlayerObject * >( 0 ) : opps.front() );
    const Vector2D opp = ( nearest_opp ? nearest_opp->pos() : Vector2D( -1000.0, 0.0 ) );
    if ( wm.opponentsFromSelf().front()->posCount() > 1 )
    {
        return  Neck_TurnToPoint( opp ).execute( agent );
    }
    if ( wm.ball().posCount() <= M_count_thr )
    {
        dlog.addText( Logger::ACTION,
                      __FILE__": pos_count=%d <= count_thr=%d",
                      wm.ball().posCount(), M_count_thr );
        return Neck_ScanField().execute( agent );
    }

    const ServerParam & SP = ServerParam::i();

    const Vector2D ball_next = agent->effector().queuedNextBallPos();
    const Vector2D my_next = agent->effector().queuedNextSelfPos();

    if ( wm.ball().posCount() <= 0
         && my_next.dist( ball_next ) < SP.visibleDistance() - 0.2 )
    {
        dlog.addText( Logger::ACTION,
                      __FILE__": in visible distance." );
        return Neck_ScanField().execute( agent );
    }

    const AngleDeg my_next_body = agent->effector().queuedNextSelfBody();
    const double next_view_width = agent->effector().queuedNextViewWidth().width();

    if ( ( ( ball_next - my_next ).th() - my_next_body ).abs()
         > SP.maxNeckAngle() + next_view_width * 0.5 + 2.0 )
    {
        dlog.addText( Logger::ACTION,
                      __FILE__": never face to ball" );
        return Neck_ScanField().execute( agent );
    }

    dlog.addText( Logger::ACTION,
                  __FILE__": turn neck to ball" );
    return Neck_TurnToBall().execute( agent );
}

Example #2

File: neck_turn_to_ball_or_scan.cpp Project: AaronCLH/IEEE-SB-SETUP

/*!

*/
bool
Neck_TurnToBallOrScan::execute( PlayerAgent * agent )
{
    dlog.addText( Logger::ACTION,
                  __FILE__": Neck_TurnToBallOrScan count_thr=%d",
                  M_count_thr );

    const WorldModel & wm = agent->world();

    if ( wm.ball().posCount() <= M_count_thr )
    {
        dlog.addText( Logger::ACTION,
                      __FILE__": pos_count=%d <= count_thr=%d",
                      wm.ball().posCount(), M_count_thr );
        return Neck_ScanField().execute( agent );
    }

    const ServerParam & SP = ServerParam::i();

    const Vector2D ball_next = agent->effector().queuedNextBallPos();
    const Vector2D my_next = agent->effector().queuedNextSelfPos();

    if ( wm.ball().posCount() <= 0
         && my_next.dist( ball_next ) < SP.visibleDistance() - 0.2 )
    {
        dlog.addText( Logger::ACTION,
                      __FILE__": in visible distance." );
        return Neck_ScanField().execute( agent );
    }

    const AngleDeg my_next_body = agent->effector().queuedNextSelfBody();
    const double next_view_width = agent->effector().queuedNextViewWidth().width();

    if ( ( ( ball_next - my_next ).th() - my_next_body ).abs()
         > SP.maxNeckAngle() + next_view_width * 0.5 + 2.0 )
    {
        dlog.addText( Logger::ACTION,
                      __FILE__": never face to ball" );
        return Neck_ScanField().execute( agent );
    }

    dlog.addText( Logger::ACTION,
                  __FILE__": turn neck to ball" );
    return Neck_TurnToBall().execute( agent );
}