tANDp Tactic::findTarget()
{
tANDp out;
out.prob = 0;
if (!wm->ball.isValid) return out;
wm->TANDPis.clear();
int dist_Clearance = 00 ; // 3 cm for opp Robot Reaction displacement
for(int jj=-10;jj<11;jj++)
{
int prob=100;
Vector2D Point;
Point.x = Field::oppGoalCenter.x;
Point.y = Field::oppGoalCenter.y + jj*(Field::oppGoalPost_L.y/10);
tANDp tp;
tp.pos=Point;
int min_prob = 100;
for(int ii=0;ii<12;ii++)
{
if(wm->oppRobot[ii].isValid)
{
if(wm->oppRobot[ii].pos.loc.x > wm->ball.pos.loc.x-500)
{
Segment2D ball2Point(wm->ball.pos.loc,Point);
double dist2R = ball2Point.dist(wm->oppRobot[ii].pos.loc);
if (dist2R < (ROBOT_RADIUS + BALL_RADIUS + dist_Clearance) ) prob=0;
else if (dist2R < 500 )
{
prob = dist2R/5.0;
// qDebug() << " prob : " << prob ;
}
else prob = 100;
if(prob < min_prob) min_prob = prob;
}
}
min_prob=min_prob-fabs(jj/3.0);
if(fabs(jj)>7) min_prob = min_prob*0.9;
if(min_prob < 0) min_prob=0;
if(min_prob == 0) break;
}
// qDebug() << " Min : " << min_prob;
tp.prob=min_prob;
// qDebug() << "tp.prob : " << tp.prob;
wm->TANDPis.push_back(tp);
}
out = wm->TANDPis.at(0);
for(int i=1;i<wm->TANDPis.size();i++)
{
if( out.prob < wm->TANDPis.at(i).prob)
out = wm->TANDPis.at(i);
}
wm->max_TANDPis = out;
return out;
}
double Knowledge::oppScoringChance(Vector2D loc)
{
tANDp out;
out.prob = 0;
QList<tANDp> TANDPis;
int prob=100;
int dist_Clearance = 30 ; // 3 cm for opp Robot Reaction displacement
QList<int> our = this->findOurObstacles();
if( !_wm->kn->IsInsideRect(loc , Vector2D(Field::MaxX/2,Field::MaxY) ,Vector2D(Field::MaxX,Field::MinY)) )
{
for(int jj=-10;jj<11;jj++)
{
Vector2D Point;
Point.x = Field::ourGoalCenter.x;
Point.y = Field::ourGoalCenter.y + jj*(Field::ourGoalPost_L.y/10);
tANDp tp;
tp.pos=Point;
int min_prob = 100;
for(int ii=0;ii<our.size();ii++)
{
if(_wm->ourRobot[our.at(ii)].isValid)
{
if(_wm->ourRobot[our.at(ii)].pos.loc.x < loc.x)
{
Segment2D ball2Point(loc,Point);
double dist2R = ball2Point.dist(_wm->ourRobot[our.at(ii)].pos.loc);
if (dist2R < (ROBOT_RADIUS + BALL_RADIUS + dist_Clearance) ) prob=0;
else if (dist2R < 400 ) prob = dist2R/4;
else prob = 100;
if(prob < min_prob) min_prob = prob;
}
}
if(abs(jj) > 7) prob = prob*((17-abs(jj))/10);
if(min_prob == 0) break;
}
tp.prob=min_prob;
TANDPis.push_back(tp);
}
}
else
{
tANDp tp;
tp.prob = 0;
TANDPis.push_back(tp);
}
out = TANDPis.at(0);
for(int i=1;i<TANDPis.size();i++)
{
if( out.prob < TANDPis.at(i).prob)
out = TANDPis.at(i);
}
return out.prob;
}
double Knowledge::scoringChance(Vector2D loc)
{
tANDp out;
out.prob = 0;
QList<tANDp> TANDPis;
int prob=100;
int dist_Clearance = 30 ; // 3 cm for opp Robot Reaction displacement
for(int jj=-10;jj<11;jj++)
{
Vector2D Point; // 20 Points Are On OppGoal Line And Each Has a Chance To goal
Point.x = Field::oppGoalCenter.x;
Point.y = Field::oppGoalCenter.y + jj*(Field::oppGoalPost_L.y/10);
tANDp tp;
tp.pos=Point;
int min_prob = 100;
for(int ii=0;ii<12;ii++)
{
if(_wm->oppRobot[ii].isValid)
{
if(_wm->oppRobot[ii].pos.loc.x > loc.x)
{
Segment2D ball2Point(loc,Point);
double dist2R = ball2Point.dist(_wm->oppRobot[ii].pos.loc);
if (dist2R < (ROBOT_RADIUS + BALL_RADIUS + dist_Clearance) ) prob=0;
else if (dist2R < 400 ) prob = dist2R/4;
else prob = 100;
if(prob < min_prob) min_prob = prob;
}
}
if(abs(jj) > 7) prob = prob*((17-abs(jj))/10);
if(min_prob == 0) break;
}
tp.prob=min_prob;
TANDPis.push_back(tp);
}
out = TANDPis.at(0);
for(int i=1;i<TANDPis.size();i++)
{
if( out.prob < TANDPis.at(i).prob)
out = TANDPis.at(i);
}
return out.prob;
}