gr_Robot_Command TDefendPoint::execute(const BeliefState &state, const Param& tParam)
{
// Select the skill to the executed next
Strategy::SkillSet::SkillID sID = SkillSet::DefendPoint;
SkillSet::SParam sParam;
sParam.DefendPointP.x = tParam.DefendPointP.x ;
sParam.DefendPointP.y = tParam.DefendPointP.y ;
sParam.DefendPointP.radius = tParam.DefendPointP.radius;
// Execute the selected skill
Strategy::SkillSet *ptr = SkillSet::instance();
return ptr->executeSkill(sID, sParam, state, botID);
}
gr_Robot_Command TCharge::execute(const BeliefState &state, const Param& tParam)
{
// Select the skill to the executed next
Strategy::SkillSet::SkillID sID = SkillSet::DribbleToPoint;
SkillSet::SParam sParam;
sParam.DribbleToPointP.x = HALF_FIELD_MAXX;
sParam.DribbleToPointP.y = (OPP_GOAL_MAXY+OPP_GOAL_MINY)/2;
// Execute the selected skill
Strategy::SkillSet *ptr = SkillSet::instance();
return ptr->executeSkill(sID, sParam, state, botID);
// if((state->homePos[botID] - Vector2D<int>(tParam.PositionP.x, tParam.PositionP.y)).absSq() < BOT_POINT_THRESH * BOT_POINT_THRESH)
// {
// tState = COMPLETED;
// }
}
gr_Robot_Command TPosition::execute(const BeliefState &state, const Param& tParam)
{
// Select the skill to the executed next
// printf("botpos x:%d\ty:%d\n", state->homePos[botID].x, state->homePos[botID].y);
Strategy::SkillSet::SkillID sID = SkillSet::GoToPoint;
SkillSet::SParam sParam;
sParam.GoToPointP.x = tParam.PositionP.x ;
sParam.GoToPointP.y = tParam.PositionP.y ;
sParam.GoToPointP.align = tParam.PositionP.align;
sParam.GoToPointP.finalslope = tParam.PositionP.finalSlope ;
sParam.GoToPointP.finalVelocity = tParam.PositionP.finalVelocity;
// Execute the selected skill
Strategy::SkillSet *ptr = SkillSet::instance();
if((Vector2D<int>(state.homePos[botID].x,state.homePos[botID].y) - Vector2D<int>(tParam.PositionP.x, tParam.PositionP.y)).absSq() < BOT_POINT_THRESH * BOT_POINT_THRESH)
{
iState = COMPLETED;
}
return ptr->executeSkill(sID, sParam, state, botID);
}
gr_Robot_Command TDefend::execute(const BeliefState &state, const Param& tParam)
{
// Select the skill to the executed next
// printf("botpos x:%d\ty:%d\n", state->homePos[botID].x, state->homePos[botID].y);
Strategy::SkillSet::SkillID sID = SkillSet::GoToPoint;
SkillSet::SParam sParam;
sParam.GoToPointP.x = tParam.DefendP.x ;
sParam.GoToPointP.y = state.ballPos.y;
sParam.GoToPointP.align = true;
sParam.GoToPointP.finalslope = PI/2;
// Execute the selected skill
Strategy::SkillSet *ptr = SkillSet::instance();
return ptr->executeSkill(sID, sParam, state, botID);
// if((state->homePos[botID] - Vector2D<int>(tParam.PositionP.x, tParam.PositionP.y)).absSq() < BOT_POINT_THRESH * BOT_POINT_THRESH)
// {
// tState = COMPLETED;
// }
}
gr_Robot_Command TDefendLine::execute(const BeliefState &state, const Param& tParam)
{
float x1,x3,x2,x4,y1,y2,y3,y4;
x1=tParam.DefendLineP.x1;
x2=tParam.DefendLineP.x2;
y1=tParam.DefendLineP.y1;
y2=tParam.DefendLineP.y2;
x3=state.ballPos.x;
y3=state.ballPos.y;
x4=state.ballPos.x + state.ballVel.x;
y4=state.ballPos.y+ state.ballVel.y;
if(state.ballVel.x==0)
{
// printf("here1\n");
//return;
x4=(x1+x2)/2;
//y4=(y1+y2)/2;
}
Vector2D<int> targetPoint;
// intersection formula copied from http://en.wikipedia.org/wiki/Line-line_intersection
float denominator= (x1-x2)*(y3-y4) - (y1-y2)*(x3-x4);
if(denominator==0)
{
// printf("here2\n");
targetPoint.x=(x1+x2)/2;
targetPoint.y =state.ballPos.y+ state.ballVel.y;
}
else
{
targetPoint.x = ((x1*y2-y1*x2)* (x3-x4) - (x1-x2) *(x3*y4-y3*x4))/denominator;
targetPoint.y = ((x1*y2-y1*x2)* (y3-y4) - (y1-y2) *(x3*y4-y3*x4))/denominator;
}
if(fabs(targetPoint.x) > fabs(HALF_FIELD_MAXX))
{
targetPoint.x=(x1+x2)/2;
}
if(fabs(targetPoint.y) > fabs(HALF_FIELD_MAXY))
{
targetPoint.y=(y1+y2)/2;
}
// if(x3 < x1)
// {
// /**Shifts the defence line if the ball has already crossed it.*/
// targetPoint.x = state->ballPos.x + 4*BOT_BALL_THRESH;
// targetPoint.y = state->ballPos.y; + state->ballVel.y*0.3;
// }
// else
// {
// /**Continue moving along the line if the ball has not crossed it.*/
// targetPoint.x = x1;
// targetPoint.y = state->ballPos.y; + state->ballVel.y*0.3;
// }
//
// /**Set DefendPoint coordinates on the defence line*/
// int xfinal = targetPoint.x < HALF_FIELD_MAXX ? targetPoint.x : HALF_FIELD_MAXX;
// int yfinal = targetPoint.y;
/**Tactic completed if ball comes in our possession or if ball crosses the defence line.*/
if(state.pr_ourBall && x3>x1)
{
//tState = COMPLETED;
}
// Select the skill to the executed next
// printf("botpos x:%d\ty:%d\n", state->homePos[botID].x, state->homePos[botID].y);
Strategy::SkillSet::SkillID sID = SkillSet::DefendPoint;
SkillSet::SParam sParam;
sParam.DefendPointP.x = targetPoint.x ;
sParam.DefendPointP.y = targetPoint.y ;
sParam.DefendPointP.radius = tParam.DefendLineP.radius;
// Execute the selected skill
Strategy::SkillSet *ptr = SkillSet::instance();
return ptr->executeSkill(sID, sParam, state, botID);
// if((state->homePos[botID] - Vector2D<int>(tParam.PositionP.x, tParam.PositionP.y)).absSq() < BOT_POINT_THRESH * BOT_POINT_THRESH)
// {
// tState = COMPLETED;
// }
}