C++ WorldModel::ourSide方法代码示例

/*!

*/
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();
//.........这里部分代码省略.........

/*!

*/
double
Neck_ScanPlayers::calculate_score( const WorldModel & wm,
                                   const Vector2D & next_self_pos,
                                   const AngleDeg & left_angle,
                                   const AngleDeg & right_angle )
{
    double score = 0.0;
    double view_buffer = 90.0;

    const int our_min = std::min( wm.interceptTable()->selfReachCycle(),
                                  wm.interceptTable()->teammateReachCycle() );
    const int opp_min = wm.interceptTable()->opponentReachCycle();
    const bool our_ball = ( our_min <= opp_min );

    const AbstractPlayerCont::const_iterator end = wm.allPlayers().end();
    for ( AbstractPlayerCont::const_iterator p = wm.allPlayers().begin();
          p != end;
          ++p )
    {
        if ( (*p)->isSelf() ) continue;

        Vector2D pos = (*p)->pos() + (*p)->vel();
        AngleDeg angle = ( pos - next_self_pos ).th();

        if ( ! angle.isRightOf( left_angle )
             || ! angle.isLeftOf( right_angle ) )
        {
            continue;
        }

        double pos_count = (*p)->seenPosCount();
        if ( (*p)->isGhost()
             && (*p)->ghostCount() % 2 == 1 )
        {
            pos_count = std::min( 2.0, pos_count );
        }
        pos_count += 1.0;

        if ( our_ball )
        {
            if ( (*p)->side() == wm.ourSide()
                 && ( (*p)->pos().x > wm.ball().pos().x - 10.0
                      || (*p)->pos().x > 30.0 ) )
            {
                pos_count *= 2.0;
            }
        }

        double base_val = std::pow( pos_count, 2 );
        double rate = std::exp( - std::pow( (*p)->distFromSelf(), 2 )
                                / ( 2.0 * std::pow( 20.0, 2 ) ) ); // Magic Number
        score += base_val * rate;

        double buf = std::min( ( angle - left_angle ).abs(),
                               ( angle - right_angle ).abs() );
#ifdef DEBUG_PRINT
        dlog.addText( Logger::ACTION,
                      "__ %c_%d (%.2f %.2f) count=%d base=%f rate=%f +%f buf=%.1f",
                      (*p)->side() == LEFT ? 'L' : (*p)->side() == RIGHT ? 'R' : 'N',
                      (*p)->unum(),
                      (*p)->pos().x, (*p)->pos().y,
                      (*p)->posCount(),
                      base_val, rate, base_val * rate,
                      buf );
#endif

        if ( buf < view_buffer )
        {
            view_buffer = buf;
        }
    }

    // The bigger view buffer, the bigger rate
    // range: [1.0:2.0]
    // double rate = 2.0 - std::exp( - std::pow( view_buffer, 2 )
    //                               / ( 2.0 * std::pow( 180.0, 2 ) ) ); // Magic Number
    double rate = 1.0 + view_buffer / 90.0;
#ifdef DEBUG_PRINT
    dlog.addText( Logger::ACTION,
                  "base_score=%.1f view_buf=%.1f rate=%f -> %f",
                  score,
                  view_buffer,
                  rate,
                  score * rate );
#endif

    score *= rate;

    return score;

}

/*!

 */
Formation::Ptr
Strategy::getFormation( const WorldModel & wm ) const
{
    //
    // play on
    //
    if ( wm.gameMode().type() == GameMode::PlayOn )
    {
        switch ( M_current_situation ) {
        case Defense_Situation:
            return M_defense_formation;
        case Offense_Situation:
            return M_offense_formation;
        default:
            break;
        }
        return M_normal_formation;
    }

    //
    // kick in, corner kick
    //
    if ( wm.gameMode().type() == GameMode::KickIn_
         || wm.gameMode().type() == GameMode::CornerKick_ )
    {
        if ( wm.ourSide() == wm.gameMode().side() )
        {
            // our kick-in or corner-kick
            return M_kickin_our_formation;
        }
        else
        {
            return M_setplay_opp_formation;
        }
    }

    //
    // our indirect free kick
    //
    if ( ( wm.gameMode().type() == GameMode::BackPass_
           && wm.gameMode().side() == wm.theirSide() )
         || ( wm.gameMode().type() == GameMode::IndFreeKick_
              && wm.gameMode().side() == wm.ourSide() ) )
    {
        return M_indirect_freekick_our_formation;
    }

    //
    // opponent indirect free kick
    //
    if ( ( wm.gameMode().type() == GameMode::BackPass_
           && wm.gameMode().side() == wm.ourSide() )
         || ( wm.gameMode().type() == GameMode::IndFreeKick_
              && wm.gameMode().side() == wm.theirSide() ) )
    {
        return M_indirect_freekick_opp_formation;
    }

    //
    // after foul
    //
    if ( wm.gameMode().type() == GameMode::FoulCharge_
         || wm.gameMode().type() == GameMode::FoulPush_ )
    {
        if ( wm.gameMode().side() == wm.ourSide() )
        {
            //
            // opponent (indirect) free kick
            //
            if ( wm.ball().pos().x < ServerParam::i().ourPenaltyAreaLineX() + 1.0
                 && wm.ball().pos().absY() < ServerParam::i().penaltyAreaHalfWidth() + 1.0 )
            {
                return M_indirect_freekick_opp_formation;
            }
            else
            {
                return M_setplay_opp_formation;
            }
        }
        else
        {
            //
            // our (indirect) free kick
            //
            if ( wm.ball().pos().x > ServerParam::i().theirPenaltyAreaLineX()
                 && wm.ball().pos().absY() < ServerParam::i().penaltyAreaHalfWidth() )
            {
                return M_indirect_freekick_our_formation;
            }
            else
            {
                return M_setplay_our_formation;
            }
        }
    }

    //
//.........这里部分代码省略.........