机器人足球实验二

1、实验二20112429 徐斌 计算机科学与技术 11-1班 1、 实验目的(1了解 Demeer5的工作原理(2学会对 Demeer5进行简单的修改二、实验设备硬件环境:PC软件环境:Linux三、实验内容(1如果可踢球就用最大力踢球else if( WM->isBallKickable( / 如果球已知,而且当前球在我脚下 (可踢 V ecPosition pos=( PITCH_LENGTH/2.0,(-1 + 2*(WM->getCurrentCycle(%2 *0.4 * SS->getGoalWidth( ;soc=kickTo(pos,SS->getBall

2、SpeedMax(;ACT->putCommandInQueue( soc ; / 放入命令队列ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ;(2如果球不可踢且我是队友中最快到达球的队员,则去截球else if( WM->getFastestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL, &iTmp = WM->getAgentObjectType( && !WM->isDeadBallThem( / 如果球不在我的控制范围下,

3、但是当前能最快抢到球的是我,那我就去执行抢球动作Log.log( 100, "I am fastest to ball; can get there in %d cycles", iTmp ;soc = intercept( false ;ACT->putCommandInQueue( soc ;ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ;(3其他情况按战略点跑位else if( posAgent.getDistanceTo(WM->getStrategicPosition( &g

4、t;1.5 + fabs(posAgent.getX(-posBall.getX(/10.0 / 到了这里就是其他距离 球相对远一点的人了,如果离自己的阵形点太远,就跑回 自己的阵形点去。if(WM->getAgentStamina(.getStamina(>SS->getRecoverDecThr(*SS->getStaminaMax(+800 soc = moveToPos(WM->getStrategicPosition(,PS->getPlayerWhenToTurnAngle(; ACT->putCommandInQueue( soc ;AC

5、T->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ;(4将球踢向对方球门else if( WM->isBallKickable( / 如果球已知,而且当前球在我脚下 (可踢 V ecPosition pos=( PITCH_LENGTH/2.0, (-1 + 2*(WM->getCurrentCycle(%2 *0.4 * SS->getGoalWidth( ; /得到对方球门的坐标soc=kickTo(pos,SS->getBallSpeedMax(;ACT->putCommandInQueu

6、e( soc ;ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ;(5将球踢向距自己最近的球员else if( WM->isBallKickable( / 如果球已知,而且当前球在我脚下 (可踢 V ecPosition vec=WM->globalPosition(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent;soc=kickTo(vec,2.0;ACT->putCommandInQueue(soc;ACT->putCommand

7、InQueue( turnNeckToObject( OBJECT_BALL, soc ;(7用不同的带球模式带球 dribble(vec,DRIBBLE分别用 DRIBBLE_FAST 快速带球DRIBBLE_SLOW 慢速带球DRIBBLE_WITHBALL 安全带球的模式带球(8向对方球门带球else if( WM->isBallKickable(AngDeg ang=0.0;soc=dribble(ang,DRIBBLE_FAST;ACT->putCommandInQueue(soc;ACT->putCommandInQueue( turnNeckToObject(

8、OBJECT_BALL, soc ;(9不同的带球组合else if( WM->isBallKickable(if(WM->isInTheirPenaltyArea(WM->getBallPos(V ecPosition pos=( PITCH_LENGTH/2.0,(-1 + 2*(WM->getCurrentCycle(%2 *0.4 * SS->getGoalWidth( ;soc=kickTo(pos,SS->getBallSpeedMax(;elseAngDeg ang=0.0;soc=dribble(ang,DRIBBLE_FAST;AngDeg ang=0.0;soc=dribble(ang,DRIBBLE_FAST;ACT->putCommandInQueue( soc ;