/*!

 */
void
TackleGenerator::generate( const WorldModel & wm )
{
    static GameTime s_update_time( 0, 0 );

    if ( s_update_time == wm.time() )
    {
        // dlog.addText( Logger::CLEAR,
        //               __FILE__": already updated" );
        return;
    }
    s_update_time = wm.time();

    clear();

    if ( wm.self().isKickable() )
    {
        // dlog.addText( Logger::CLEAR,
        //               __FILE__": kickable" );
        return;
    }

    if ( wm.self().tackleProbability() < 0.001
         && wm.self().foulProbability() < 0.001 )
    {
        // dlog.addText( Logger::CLEAR,
        //               __FILE__": never tacklable" );
        return;
    }

    if ( wm.time().stopped() > 0 )
    {
        // dlog.addText( Logger::CLEAR,
        //               __FILE__": time stopped" );
        return;
    }

    if ( wm.gameMode().type() != GameMode::PlayOn
         && ! wm.gameMode().isPenaltyKickMode() )
    {
        // dlog.addText( Logger::CLEAR,
        //               __FILE__": illegal playmode " );
        return;
    }


#ifdef DEBUG_PROFILE
    MSecTimer timer;
#endif

    calculate( wm );

#ifdef DEBUG_PROFILE
    dlog.addText( Logger::CLEAR,
                  __FILE__": PROFILE. elapsed=%.3f [ms]",
                  timer.elapsedReal() );
#endif

}
Exemplo n.º 2
0
/*!

 */
void
Strategy::update( const WorldModel & wm )
{
    static GameTime s_update_time( -1, 0 );

    if ( s_update_time == wm.time() )
    {
        return;
    }
    s_update_time = wm.time();

    updateSituation( wm );
    updatePosition( wm );
}
/*!

 */
void
ActionChainHolder::update( const WorldModel & wm )
{
    static GameTime s_update_time( 0, 0 );
    static FieldEvaluator::ConstPtr s_update_evaluator;
    static ActionGenerator::ConstPtr s_update_generator;

    if ( s_update_time == wm.time()
         && s_update_evaluator == M_evaluator
         && s_update_generator == M_generator )
    {
        return;
    }
    s_update_time = wm.time();
    s_update_evaluator = M_evaluator;
    s_update_generator = M_generator;

    M_graph = ActionChainGraph::Ptr( new ActionChainGraph( M_evaluator, M_generator ) );
    M_graph->calculate( wm );
}
Exemplo n.º 4
0
/*!

*/
void
DebugClient::writeAll( const WorldModel & world,
                       const ActionEffector & effector )
{
    if ( M_on )
    {
        this->toStr( world, effector );
        if ( M_connected )
        {
            this->send();
        }

        if ( M_write_mode
             && world.time().stopped() == 0 )
        {
            this->write( world.time().cycle() );
        }

        this->clear();
    }
}
Exemplo n.º 5
0
/*!

 */
Vector2D
Bhv_ChainAction::getKeepBallVel( const WorldModel & wm )
{
    static GameTime s_update_time( 0, 0 );
    static Vector2D s_best_ball_vel( 0.0, 0.0 );

    if ( s_update_time == wm.time() )
    {
        return s_best_ball_vel;
    }
    s_update_time = wm.time();

    //
    //
    //

    const int ANGLE_DIVS = 12;

    const ServerParam & SP = ServerParam::i();
    const PlayerType & ptype = wm.self().playerType();
    const double collide_dist2 = std::pow( ptype.playerSize()
                                           + SP.ballSize(),
                                           2 );
    const double keep_dist = ptype.playerSize()
        + ptype.kickableMargin() * 0.5
        + ServerParam::i().ballSize();

    const Vector2D next_self_pos
        = wm.self().pos() + wm.self().vel();
    const Vector2D next2_self_pos
        = next_self_pos
        + wm.self().vel() * ptype.playerDecay();

    //
    // create keep target point
    //

    Vector2D best_ball_vel = Vector2D::INVALIDATED;
    int best_opponent_step = 0;
    double best_ball_speed = 1000.0;


    for ( int a = 0; a < ANGLE_DIVS; ++a )
    {
        Vector2D keep_pos
            = next2_self_pos
            + Vector2D::from_polar( keep_dist,
                                    360.0/ANGLE_DIVS * a );
        if ( keep_pos.absX() > SP.pitchHalfLength() - 0.2
             || keep_pos.absY() > SP.pitchHalfWidth() - 0.2 )
        {
            continue;
        }

        Vector2D ball_move = keep_pos - wm.ball().pos();
        double ball_speed = ball_move.r() / ( 1.0 + SP.ballDecay() );

        Vector2D max_vel
            = KickTable::calc_max_velocity( ball_move.th(),
                                            wm.self().kickRate(),
                                            wm.ball().vel() );
        if ( max_vel.r2() < std::pow( ball_speed, 2 ) )
        {
            continue;
        }

        Vector2D ball_next_next = keep_pos;

        Vector2D ball_vel = ball_move.setLengthVector( ball_speed );
        Vector2D ball_next = wm.ball().pos() + ball_vel;

        if ( next_self_pos.dist2( ball_next ) < collide_dist2 )
        {
            ball_next_next = ball_next;
            ball_next_next += ball_vel * ( SP.ballDecay() * -0.1 );
        }

#ifdef DEBUG_PRINT
        dlog.addText( Logger::TEAM,
                      __FILE__": (getKeepBallVel) %d: ball_move th=%.1f speed=%.2f max=%.2f",
                      a,
                      ball_move.th().degree(),
                      ball_speed,
                      max_vel.r() );
        dlog.addText( Logger::TEAM,
                      __FILE__": __ ball_next=(%.2f %.2f) ball_next2=(%.2f %.2f)",
                      ball_next.x, ball_next.y,
                      ball_next_next.x, ball_next_next.y );
#endif

        //
        // check opponent
        //

        int min_step = 1000;
        for ( PlayerPtrCont::const_iterator o = wm.opponentsFromSelf().begin();
              o != wm.opponentsFromSelf().end();
              ++o )
        {
            if ( (*o)->distFromSelf() > 10.0 )
            {
                break;
            }

            int o_step = FieldAnalyzer::predict_player_reach_cycle( *o,
                                                                    ball_next_next,
                                                                    (*o)->playerTypePtr()->kickableArea(),
                                                                    0.0, // penalty distance
                                                                    1, // body count thr
                                                                    1, // default turn step
                                                                    0, // wait cycle
                                                                    true );

            if ( o_step <= 0 )
            {
                break;
            }

            if ( o_step < min_step )
            {
                min_step = o_step;
            }
        }
#ifdef DEBUG_PRINT
        dlog.addText( Logger::TEAM,
                      __FILE__": (getKeepBallVel) %d: keepPos=(%.2f %.2f)"
                      " ballNext2=(%.2f %.2f) ballVel=(%.2f %.2f) speed=%.2f o_step=%d",
                      a,
                      keep_pos.x, keep_pos.y,
                      ball_next_next.x, ball_next_next.y,
                      ball_vel.x, ball_vel.y,
                      ball_speed,
                      min_step );
#endif
        if ( min_step > best_opponent_step )
        {
            best_ball_vel = ball_vel;
            best_opponent_step = min_step;
            best_ball_speed = ball_speed;
        }
        else if ( min_step == best_opponent_step )
        {
            if ( best_ball_speed > ball_speed )
            {
                best_ball_vel = ball_vel;
                best_opponent_step = min_step;
                best_ball_speed = ball_speed;
            }
        }
    }

    s_best_ball_vel = best_ball_vel;
    return s_best_ball_vel;
}
Exemplo n.º 6
0
/*!

 */
void
ShootGenerator::generate( const WorldModel & wm, bool consider_shot_distance )
{
#ifdef __APPLE__
    static GameTime s_update_time( 0, 0 );
#else
    static thread_local GameTime s_update_time( 0, 0 );
#endif

    if ( s_update_time == wm.time() )
    {
        return;
    }
    s_update_time = wm.time();

    clear();

    if ( ! wm.self().isKickable()
         && wm.interceptTable()->selfReachCycle() > 1 )
    {
        return;
    }

    if ( wm.time().stopped() > 0
         || wm.gameMode().type() == GameMode::KickOff_
         // || wm.gameMode().type() == GameMode::KickIn_
         || wm.gameMode().type() == GameMode::IndFreeKick_ )
    {
        return;
    }

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

    if ( consider_shot_distance &&
         wm.self().pos().dist2( SP.theirTeamGoalPos() ) > std::pow( 30.0, 2 ) )
    {
#ifdef DEBUG_PRINT
      dlog.addText( Logger::SHOOT,
                    __FILE__": over shootable distance" );
#endif
      return;
    }

    M_first_ball_pos = ( wm.self().isKickable()
                         ? wm.ball().pos()
                         : wm.ball().pos() + wm.ball().vel() );

#ifdef DEBUG_PROFILE
    MSecTimer timer;
#endif

    Vector2D goal_l( SP.pitchHalfLength(), -SP.goalHalfWidth() );
    Vector2D goal_r( SP.pitchHalfLength(), +SP.goalHalfWidth() );

    goal_l.y += std::min( 1.5,
                          0.6 + goal_l.dist( M_first_ball_pos ) * 0.042 );
    goal_r.y -= std::min( 1.5,
                          0.6 + goal_r.dist( M_first_ball_pos ) * 0.042 );

    if ( wm.self().pos().x > SP.pitchHalfLength() - 1.0
         && wm.self().pos().absY() < SP.goalHalfWidth() )
    {
        goal_l.x = wm.self().pos().x + 1.5;
        goal_r.x = wm.self().pos().x + 1.5;
    }

    const int DIST_DIVS = 25;
    const double dist_step = std::fabs( goal_l.y - goal_r.y ) / ( DIST_DIVS - 1 );

#ifdef DEBUG_PRINT
    dlog.addText( Logger::SHOOT,
                  __FILE__": ===== Shoot search range=(%.1f %.1f)-(%.1f %.1f) dist_step=%.1f =====",
                  goal_l.x, goal_l.y, goal_r.x, goal_r.y, dist_step );
#endif

    for ( int i = 0; i < DIST_DIVS; ++i )
    {
        ++M_total_count;

        Vector2D target_point = goal_l;
        target_point.y += dist_step * i;

#ifdef DEBUG_PRINT
        dlog.addText( Logger::SHOOT,
                      "%d: ===== shoot target(%.2f %.2f) ===== ",
                      M_total_count,
                      target_point.x, target_point.y );
#endif
        createShoot( wm, target_point );
    }


    evaluateCourses( wm );


#ifdef DEBUG_PROFILE
    dlog.addText( Logger::SHOOT,
                  __FILE__": PROFILE %d/%d. elapsed=%.3f [ms]",
                  (int)M_courses.size(),
                  DIST_DIVS,
                  timer.elapsedReal() );
#endif

}
Exemplo n.º 7
0
/*!

 */
void
ActGen_SimpleDribble::generate( std::vector< ActionStatePair > * result,
                                const PredictState & state,
                                const WorldModel & current_wm,
                                const std::vector< ActionStatePair > & path ) const
{
    static thread_local GameTime s_last_call_time( 0, 0 );
    static thread_local int s_action_count = 0;

    if ( current_wm.time() != s_last_call_time )
    {
        s_action_count = 0;
        s_last_call_time = current_wm.time();
    }

    if ( path.empty() )
    {
        return;
    }

    const AbstractPlayerObject * holder = state.ballHolder();

    if ( ! holder )
    {
        return;
    }

    const int ANGLE_DIVS = 8;
    const double ANGLE_STEP = 360.0 / ANGLE_DIVS;
    const int DIST_DIVS = 3;
    const double DIST_STEP = 1.75;

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

    const double max_x= SP.pitchHalfLength() - 1.0;
    const double max_y= SP.pitchHalfWidth() - 1.0;

    const int bonus_step = 2;

    const PlayerType * ptype = holder->playerTypePtr();

    int generated_count = 0;

    for ( int a = 0; a < ANGLE_DIVS; ++a )
    {
        const AngleDeg target_angle = ANGLE_STEP * a;

        if ( holder->pos().x < 16.0
             && target_angle.abs() > 100.0 )
        {
#ifdef DEBUG_PRINT
            dlog.addText( Logger::ACTION_CHAIN,
                          __FILE__": %d: (%.2f %.2f) danger angle(1) %.1f",
                          generated_count,
                          target_angle.degree() );
#endif
            continue;
        }

        if ( holder->pos().x < -36.0
             && holder->pos().absY() < 20.0
             && target_angle.abs() > 45.0 )
        {
#ifdef DEBUG_PRINT
            dlog.addText( Logger::ACTION_CHAIN,
                          __FILE__": %d: (%.2f %.2f) danger angle(2) %.1f",
                          generated_count,
                          target_angle.degree() );
#endif
            continue;
        }

        const Vector2D unit_vec = Vector2D::from_polar( 1.0, target_angle );
        for ( int d = 1; d <= DIST_DIVS; ++d )
        {
            const double holder_move_dist = DIST_STEP * d;
            const Vector2D target_point
                = holder->pos()
                + unit_vec.setLengthVector( holder_move_dist );

            if ( target_point.absX() > max_x
                 || target_point.absY() > max_y )
            {
#ifdef DEBUG_PRINT
                dlog.addText( Logger::ACTION_CHAIN,
                              __FILE__": %d: (%.2f %.2f) out of pitch.",
                              generated_count,
                              target_point.x, target_point.y );
#endif
                continue;
            }

            const int holder_reach_step
                = 1 + 1  // kick + turn
                + ptype->cyclesToReachDistance( holder_move_dist - ptype->kickableArea() * 0.5 );

            //
            // check opponent
            //
            bool exist_opponent = false;
            for ( PlayerCont::const_iterator o = state.opponents().begin();
                  o != state.opponents().end();
                  ++o )
            {
                double opp_move_dist = o->pos().dist( target_point );
                int o_step
                    = 1 // turn step
                    + o->playerTypePtr()->cyclesToReachDistance( opp_move_dist - ptype->kickableArea() );

                if ( o_step - bonus_step <= holder_reach_step )
                {
                    exist_opponent = true;
                    break;
                }
            }

            if ( exist_opponent )
            {
#ifdef DEBUG_PRINT
                dlog.addText( Logger::ACTION_CHAIN,
                              __FILE__": %d: (%.2f %.2f) exist opponent.",
                              generated_count, target_point.x, target_point.y );
#endif
                continue;
            }

            const double ball_speed = SP.firstBallSpeed( state.ball().pos().dist( target_point ),
                                                         holder_reach_step );

            PredictState::ConstPtr result_state( new PredictState( state,
                                                                   holder_reach_step,
                                                                   holder->unum(),
                                                                   target_point ) );
            CooperativeAction::Ptr action( new Dribble( holder->unum(),
                                                        target_point,
                                                        ball_speed,
                                                        1,
                                                        1,
                                                        holder_reach_step - 2,
                                                        "actgenDribble" ) );
            ++s_action_count;
            ++generated_count;
            action->setIndex( s_action_count );
            result->push_back( ActionStatePair( action, result_state ) );
        }
    }


#ifdef DEBUG_PRINT
    dlog.addText( Logger::ACTION_CHAIN,
                  __FILE__": Dribble path=%d, holder=%d generated=%d/%d",
                  path.size(),
                  holder->unum(),
                  generated_count, s_action_count );
#endif
}
Exemplo n.º 8
0
/*!

*/
void
DebugClient::toStr( const WorldModel & world,
                    const ActionEffector & effector )
{
    std::ostringstream ostr;

    ostr << "((debug (format-version 3)) (time "
         << world.time().cycle() << ")";


    // self
    /*
      SELF ::=  (s SIDE PLAYER_NUMBER POS_X POS_Y VEL_X VEL_Y
      BODY_DIRECTION FACE_DIRECTION  [(c "COMMENT")])
      where SIDE is 'l' or 'r'.
      where PLAYER_NUMBER is 1 to 11.
      where POS_X and POS_Y is absolute coordinate.
      where VEL_X and VEL_Y is absolute velocity.
      where BODY_DIRECTION is absolute player body direction (degree).
      where NECK_DIRECTION is body relative face direction (degree).
      This is equals to (absolute_face_direction - BODY_DIRECTION).
      where COMMENT is a string.
      Typically, it is used as information accuracy.
    */
    if ( world.self().posValid() )
    {
        ostr << " (s "
             << ( world.ourSide() == LEFT ? "l " : "r " )
             << world.self().unum() << ' '
             << ROUND(world.self().pos().x, 0.01) << ' '
             << ROUND(world.self().pos().y, 0.01) << ' '
             << ROUND(world.self().vel().x, 0.01) << ' '
             << ROUND(world.self().vel().y, 0.01) << ' '
             << ROUND(world.self().body().degree(), 0.1) << ' '
             << ROUND(world.self().neck().degree(), 0.1) << " (c \""
             << world.self().posCount() << ' '
            //<< '(' << ROUND(world.self().posError().x, 0.001)
            //<< ", " << ROUND(world.self().posError().y, 0.001) << ") "
             << world.self().velCount() << ' '
             << world.self().faceCount();
        if ( world.self().card() == YELLOW ) ostr << "y";
        ostr << "\"))";
    }

    // ball
    /*
      BALL_INFO ::=  (b POS_X POS_Y [VEL_X VEL_Y] [(c "COMMENT")])
    */
    if ( world.ball().posValid() )
    {
        ostr << " (b "
             << ROUND(world.ball().pos().x, 0.01) << ' '
             << ROUND(world.ball().pos().y, 0.01);
        if ( world.ball().velValid() )
        {
            ostr << ' ' << ROUND(world.ball().vel().x, 0.01)
                 << ' ' << ROUND(world.ball().vel().y, 0.01);
        }
        ostr << " (c \"g" << world.ball().posCount()
             << 'r' << world.ball().rposCount()
            //<< "(" << ROUND(world.ball().rpos().x, 0.01)
            // << ", " << ROUND(world.ball().rpos().y, 0.01) << ')'
             << 'v' << world.ball().velCount()
            //<< "(" << ROUND(world.ball().vel().x, 0.01)
            // << ", " << ROUND(world.ball().vel().y, 0.01) << ')'
             << "\"))";
    }

    // players
    /*
      PLAYER_INFO ::=  (TEAM [PLAYER_NUMBER] POS_X POS_Y
      [(bd BODY_DIRECTION)] [(c "COMMENT")])
      TEAM is one of follows.
      't' (teammate), 'o' (opponent),
      'u' (unknown), 'ut' (unknown teammate), 'ut' (unknown opponent).
      When TEAM is 't' or 'o', PLAYER_NUMBER must be specified.
      Otherwise PLAYER_NUMBER must not be specified.
      Body direction and comment is optional.
    */

    std::for_each( world.teammates().begin(),
                   world.teammates().end(),
                   PlayerPrinter( ostr, 't' ) );

    std::for_each( world.opponents().begin(),
                   world.opponents().end(),
                   PlayerPrinter( ostr, 'o' ) );

    std::for_each( world.unknownPlayers().begin(),
                   world.unknownPlayers().end(),
                   PlayerPrinter( ostr, 'u' ) );

    // say message
    if ( ! effector.getSayMessage().empty() )
    {
        ostr << " (say \"";
        for ( std::vector< const SayMessage * >::const_iterator it = effector.sayMessageCont().begin();
              it != effector.sayMessageCont().end();
              ++it )
        {
            (*it)->printDebug( ostr );
        }
        ostr << " {" << effector.getSayMessage() << "}\")";
    }

    // heard information
    if ( world.audioMemory().time() == world.time() )
    {
        ostr << " (hear ";
        world.audioMemory().printDebug( ostr );
        ostr << ')';
    }

    // target number
    if ( M_target_unum != Unum_Unknown )
    {
        ostr << " (target-teammate " << M_target_unum << ")";
    }

    // target point
    if ( M_target_point.isValid() )
    {
        ostr << " (target-point "
             << M_target_point.x << " " << M_target_point.y
             << ")";
    }

    // message
    if ( ! M_message.empty() )
    {
        ostr << " (message \"" << M_message << "\")";
    }

    // lines
    std::for_each( M_lines.begin(), M_lines.end(),
                   LinePrinter( ostr ) );
    // triangles
    std::for_each( M_triangles.begin(), M_triangles.end(),
                   TrianglePrinter( ostr ) );
    // rectangles
    std::for_each( M_rectangles.begin(), M_rectangles.end(),
                   RectPrinter( ostr ) );
    // circles
    std::for_each( M_circles.begin(), M_circles.end(),
                   CirclePrinter( ostr ) );

    ostr << ")";

    M_main_buffer.assign( ostr.str() );
}
Exemplo n.º 9
0
/*!

 */
void
CrossGenerator::generate( const WorldModel & wm )
{
    static thread_local GameTime s_update_time( -1, 0 );
    if ( s_update_time == wm.time() )
    {
        return;
    }
    s_update_time = wm.time();

    clear();

    if ( wm.time().stopped() > 0
         || wm.gameMode().isPenaltyKickMode() )
    {
        return;
    }

#ifdef DEBUG_PROFILE
    Timer timer;
#endif

    updatePasser( wm );

    if ( ! M_passer
         || ! M_first_point.isValid() )
    {
        dlog.addText( Logger::CROSS,
                      __FILE__" (generate) passer not found." );
        return;
    }

    if ( ServerParam::i().theirTeamGoalPos().dist( M_first_point ) > 35.0 )
    {
        dlog.addText( Logger::CROSS,
                      __FILE__" (generate) first point(%.1f %.1f) is too far from the goal.",
                      M_first_point.x, M_first_point.y );
        return;
    }

    updateReceivers( wm );

    if ( M_receiver_candidates.empty() )
    {
        dlog.addText( Logger::CROSS,
                      __FILE__" (generate) no receiver." );
        return;
    }

    updateOpponents( wm );

    createCourses( wm );

#ifdef DEBUG_PROFILE
    dlog.addText( Logger::CROSS,
                  __FILE__" (generate) PROFILE course_size=%d/%d elapsed %f [ms]",
                  (int)M_courses.size(),
                  M_total_count,
                  timer.elapsedReal() );
#endif
}
Exemplo n.º 10
0
/*!

 */
void
Strategy::updatePosition( const WorldModel & wm )
{
    static GameTime s_update_time( 0, 0 );
    if ( s_update_time == wm.time() )
    {
        return;
    }
    s_update_time = wm.time();

    Formation::Ptr f = getFormation( wm );
    if ( ! f )
    {
        std::cerr << wm.teamName() << ':' << wm.self().unum() << ": "
                  << wm.time()
                  << " ***ERROR*** could not get the current formation" << std::endl;
        return;
    }

    int ball_step = 0;
    if ( wm.gameMode().type() == GameMode::PlayOn
         || wm.gameMode().type() == GameMode::GoalKick_ )
    {
        ball_step = std::min( 1000, wm.interceptTable()->teammateReachCycle() );
        ball_step = std::min( ball_step, wm.interceptTable()->opponentReachCycle() );
        ball_step = std::min( ball_step, wm.interceptTable()->selfReachCycle() );
    }

    Vector2D ball_pos = wm.ball().inertiaPoint( ball_step );

    dlog.addText( Logger::TEAM,
                  __FILE__": HOME POSITION: ball pos=(%.1f %.1f) step=%d",
                  ball_pos.x, ball_pos.y,
                  ball_step );

    M_positions.clear();
    f->getPositions( ball_pos, M_positions );

    if ( ServerParam::i().useOffside() )
    {
        double max_x = wm.offsideLineX();
        if ( ServerParam::i().kickoffOffside()
             && ( wm.gameMode().type() == GameMode::BeforeKickOff
                  || wm.gameMode().type() == GameMode::AfterGoal_ ) )
        {
            max_x = 0.0;
        }
        else
        {
            int mate_step = wm.interceptTable()->teammateReachCycle();
            if ( mate_step < 50 )
            {
                Vector2D trap_pos = wm.ball().inertiaPoint( mate_step );
                if ( trap_pos.x > max_x ) max_x = trap_pos.x;
            }

            max_x -= 1.0;
        }

        for ( int unum = 1; unum <= 11; ++unum )
        {
            if ( M_positions[unum-1].x > max_x )
            {
                dlog.addText( Logger::TEAM,
                              "____ %d offside. home_pos_x %.2f -> %.2f",
                              unum,
                              M_positions[unum-1].x, max_x );
                M_positions[unum-1].x = max_x;
            }
        }
    }

    M_position_types.clear();
    for ( int unum = 1; unum <= 11; ++unum )
    {
        PositionType type = Position_Center;
        if ( f->isSideType( unum ) )
        {
            type = Position_Left;
        }
        else if ( f->isSymmetryType( unum ) )
        {
            type = Position_Right;
        }

        M_position_types.push_back( type );

        dlog.addText( Logger::TEAM,
                      "__ %d home pos (%.2f %.2f) type=%d",
                      unum,
                      M_positions[unum-1].x, M_positions[unum-1].y,
                      type );
        dlog.addCircle( Logger::TEAM,
                        M_positions[unum-1], 0.5,
                        "#000000" );
    }
}