Python RoleConstants.isStriker方法代码示例

# 需要导入模块: import RoleConstants [as 别名]
# 或者: from RoleConstants import isStriker [as 别名]
def watchForBall(player):
    """
    The player is at home, waiting for the ball to be within box.
    """

    if player.firstFrame():
        # print "-----------Player at home - Watching for ball-----------"
        player.brain.tracker.trackBall()
        player.brain.nav.stand()

    # I commented this out because we were getting strange oscillations
    # between this and positonAtHome, and honestly we never go here unless
    # we are already at home... dumb...
    # if transitions.tooFarFromHome(player, 50, 20):
    #     return player.goLater('positionAtHome')

    if role.isFirstChaser(player.role):
        if player.stateTime >= tracking.INITIALIZE_HEADING_TIME + tracking.FULL_WIDE_PAN_TIME:
                return player.goNow('spinAtHome')
    elif role.isStriker(player.role):
        if player.stateTime >= tracking.INITIALIZE_HEADING_TIME + tracking.FULL_WIDE_PAN_TIME * 2:
            return player.goNow('spinAtHome')
    else:
        if player.stateTime >= tracking.INITIALIZE_HEADING_TIME + tracking.FULL_WIDE_PAN_TIME * 2:
            return player.goNow('spinAtHome')

# 需要导入模块: import RoleConstants [as 别名]
# 或者: from RoleConstants import isStriker [as 别名]
def calculateHomePosition(player):
    """
    Calculate home position.
    """
    # We've seen the ball recently enough
    if player.brain.ball.vis.frames_off < 20:
        ball = player.brain.ball
        bearing = ball.bearing_deg
    elif player.brain.sharedBall.ball_on:
        ball = player.brain.sharedBall
        bearing = degrees(atan2(ball.y - player.brain.loc.y,
                          ball.x - player.brain.loc.x)) - player.brain.loc.h
    else:
        ball = None

    if ball != None and not (role.isDefender(player.role) and NogginConstants.FIXED_D_HOME):
        if role.isLeftDefender(player.role):
            home = findDefenderHomeWithBall(player, True, ball, bearing + player.brain.loc.h)
        elif role.isRightDefender(player.role):
            home = findDefenderHomeWithBall(player, False, ball, bearing + player.brain.loc.h)
        elif role.isStriker(player.role):
            home = findStrikerHome(ball, bearing + player.brain.loc.h)
        else:
            home = player.homePosition
    else:
        if role.isLeftDefender(player.role):
            home = findDefenderHomeNoBall(player, True)
        elif role.isRightDefender(player.role):
            home = findDefenderHomeNoBall(player, False)
        else:
            home = player.homePosition
        
    return home

# 需要导入模块: import RoleConstants [as 别名]
# 或者: from RoleConstants import isStriker [as 别名]
def tooFarFromHome(threshold, player):
    """
    Returns true if LOC thinks we're more than *distance* away from our home
    position
    """
    if player.brain.ball.vis.frames_off < 10:
        ball = player.brain.ball
    elif player.brain.sharedBall.ball_on:
        ball = player.brain.sharedBall
    else:
        ball = None
        home = player.homePosition

    if ball != None:
        if role.isLeftDefender(player.role):
            home = findDefenderHome(True, ball, player.homePosition.h)
        elif role.isRightDefender(player.role):
            home = findDefenderHome(False, ball, player.homePosition.h)
        elif role.isStriker(player.role):
            home = findStrikerHome(ball, player.homePosition.h)
        else:
            home = player.homePosition

    distance = ((player.brain.loc.x - home.x) ** 2 + (player.brain.loc.y - home.y) ** 2) ** 0.5

    return distance > threshold

# 需要导入模块: import RoleConstants [as 别名]
# 或者: from RoleConstants import isStriker [as 别名]
def branchOnRole(player):
    """
    Chasers are going to have a different behavior again.
    We will branch on behavior based on role here
    """

    # print "----------In branch on role----------"

    # print "Entered Branch on Role"
    # print "----- evenDefenderIsForward, lastEvenDefenderForwardVal ----"
    # print player.brain.evenDefenderIsForward, lastEvenDefenderForwardVal

    # global lastEvenDefenderForwardVal
    # player.brain.evenDefenderIsForward = not lastEvenDefenderForwardVal
    # newEvenDefenderForwardVal = True
    # print("TIME SINCE PLAYING:", player.brain.gameController.timeSincePlaying)
    if role.isFirstChaser(player.role):
        if transitions.shouldFindSharedBall(player) and player.brain.gameController.timeSincePlaying > 75:
            return player.goNow('searchFieldForSharedBall')
        return player.goNow('playerFourSearchBehavior') 
    elif role.isStriker(player.role):
        return player.goNow('playerFiveSearchBehavior')
    elif role.isLeftDefender(player.role):

        # print "Player Brain Left Forward 1: " + str(leftDefenderIsForward)

        # if (player.brain.sharedBall.ball_on) and (player.brain.sharedBall.x < NogginConstants.MIDFIELD_X):

            # print "WE ARE IN HERE"

            # return player.goNow('leftDefenderBack')
        if leftDefenderIsForward:

            # print "Changing to False"

            global leftDefenderIsForward

            leftDefenderIsForward = False

            # print "Player Brain Left Forward 2: " + str(leftDefenderIsForward)

            return player.goNow('leftDefenderForward')
        else:

            # print "Changing to True"

            global leftDefenderIsForward

            leftDefenderIsForward = True

            # print "Player Brain Left Forward 3: " + str(leftDefenderIsForward)

            return player.goNow('leftDefenderBack')
    else:
        return player.goNow('positionAtHome')

# 需要导入模块: import RoleConstants [as 别名]
# 或者: from RoleConstants import isStriker [as 别名]
def getSupporterPosition(player, r):
    """
    Returns a position to stand at to support teammate who is chasing the ball.
    Used in positionAsSupporter in PlayOffBallStates.
    """
    if role.isLeftDefender(r):
        return leftDefender(player)
    elif role.isRightDefender(r):
        return rightDefender(player)
    elif role.isFirstChaser(r):
        return chaser(player)
    elif role.isStriker(r):
        return striker(player)
    else: # cherry picker
        return cherryPicker(player)

# 需要导入模块: import RoleConstants [as 别名]
# 或者: from RoleConstants import isStriker [as 别名]
def doPan(player):
    """
    Wide pan for 5 seconds.
    """

    if player.firstFrame():
        # print "------------Doing Pan-------------"

        player.stand()
        player.brain.tracker.trackBall()

    if player.stateTime >= tracking.INITIALIZE_HEADING_TIME + tracking.FULL_WIDE_PAN_TIME:
        if role.isFirstChaser(player.role):
            return player.goNow('playerFourSearchBehavior')
        elif role.isStriker(player.role):
            return player.goNow('playerFiveSearchBehavior')
        else:
            return player.goNow('doSecondHalfSpin')

# 需要导入模块: import RoleConstants [as 别名]
# 或者: from RoleConstants import isStriker [as 别名]
def positionAtHome(player):
    """
    Go to the player's home position. Defenders look in the direction of the 
    shared ball if it is on with reliability >= 2. Cherry pickers look in the direction
    of the shared ball if it is on with reliability >= 1.
    """

    if role.isFirstChaser(player.role) and transitions.shouldFindSharedBall(player):
        return player.goLater('searchFieldForSharedBall')

    if player.brain.ball.vis.frames_off < 10:
        ball = player.brain.ball
        bearing = ball.bearing_deg
    elif player.brain.sharedBall.ball_on:
        ball = player.brain.sharedBall
        bearing = degrees(atan2(ball.y - player.brain.loc.y,
                        ball.x - player.brain.loc.x)) - player.brain.loc.h
    else:
        ball = None
        home = player.homePosition

    if ball != None:
        if role.isLeftDefender(player.role):
            home = findDefenderHome(True, ball, bearing + player.brain.loc.h)
        elif role.isRightDefender(player.role):
            home = findDefenderHome(False, ball, bearing + player.brain.loc.h)
        elif role.isStriker(player.role):
            home = findStrikerHome(ball, bearing + player.brain.loc.h)
        else:
            home = player.homePosition

    if player.firstFrame():
        if role.isCherryPicker(player.role):
            player.brain.tracker.repeatBasicPan()
        else:
            player.brain.tracker.trackBall()
        
        fastWalk = role.isChaser(player.role)
        player.brain.nav.goTo(home, precision = nav.HOME,
                              speed = nav.QUICK_SPEED, avoidObstacles = True,
                              fast = fastWalk, pb = False)

    player.brain.nav.updateDest(home)

# 需要导入模块: import RoleConstants [as 别名]
# 或者: from RoleConstants import isStriker [as 别名]
def panAtWayPoint(player):

    if player.firstFrame():
        player.stand()
        player.brain.tracker.trackBall()

    # if role.isFirstChaser(player.role) and not playerFourSearchBehavior.pointIndex % len(playerFourPoints) == 0:
    #     if player.stateTime >= FULL_WIDE_PAN_TIME:
    #         return player.goNow("playerFourSearchBehavior")

    # elif player.stateTime >= FULL_WIDE_PAN_TIME * 2:
    #     return player.goNow("spinAtHome")

    if role.isFirstChaser(player.role) and not playerFourSearchBehavior.pointIndex % len(playerFourPoints) == 0:
        if player.stateTime >= tracking.INITIALIZE_HEADING_TIME + tracking.FULL_WIDE_PAN_TIME:
            return player.goNow("playerFourSearchBehavior")
    elif role.isStriker(player.role):
        if player.stateTime >= tracking.INITIALIZE_HEADING_TIME + tracking.FULL_WIDE_PAN_TIME * 2:
            return player.goNow('spinAtHome')
    else:
        if player.stateTime >= tracking.INITIALIZE_HEADING_TIME + tracking.FULL_WIDE_PAN_TIME:
            return player.goNow('spinAtHome')

# 需要导入模块: import RoleConstants [as 别名]
# 或者: from RoleConstants import isStriker [as 别名]
def chaser(player):
    """
    Chasers position off to one side of the ball about a meter away if a chaser
    or cherry picker is calling them off. Chasers position further away up field if
    a defender is calling them off.
    """
    if role.isStriker(player.roleOfClaimer):
        return striker(player)

    if role.isDefender(player.roleOfClaimer):
        if player.brain.ball.y >= player.brain.loc.y:
            return RobotLocation(player.brain.ball.x + 250,
                                 player.brain.ball.y - CHASER_DISTANCE,
                                 player.brain.ball.bearing_deg + player.brain.loc.h)
        return RobotLocation(player.brain.ball.x + 250,
                             player.brain.ball.y + CHASER_DISTANCE,
                             player.brain.ball.bearing_deg + player.brain.loc.h)
    else:
        southEast = RobotLocation(player.brain.ball.x - CHASER_DISTANCE,
                                  player.brain.ball.y - CHASER_DISTANCE,
                                  player.brain.ball.bearing_deg + player.brain.loc.h)
        southWest = RobotLocation(player.brain.ball.x - CHASER_DISTANCE,
                                 player.brain.ball.y + CHASER_DISTANCE,
                                 player.brain.ball.bearing_deg + player.brain.loc.h)
        northEast = RobotLocation(player.brain.ball.x + CHASER_DISTANCE,
                                 player.brain.ball.y - CHASER_DISTANCE,
                                 player.brain.ball.bearing_deg + player.brain.loc.h)
        northWest = RobotLocation(player.brain.ball.x + CHASER_DISTANCE,
                                 player.brain.ball.y + CHASER_DISTANCE,
                                 player.brain.ball.bearing_deg + player.brain.loc.h)

        supportPostitions = [southEast,southWest,northEast,northWest]
        positionsFilteredByInBounds = [position for position in supportPostitions if (inBounds(position) and notBlockingGoal(position))]
        if len(positionsFilteredByInBounds) > 0:
            return min(positionsFilteredByInBounds, key=distanceToPosition(player))
        
        # print "no in bounds position"
        return southEast