机器人足球球队小组分工报告

1、小组成侪， 决策PlayerTeamsuva334334 formations-setFormationFT_334_OFFENSIVE设置球队出场阵形！小组成侪， 决策PlayerTeamsuva334334 formations-setFormationFT_334_OFFENSIVE设置球队出场阵形！433 334 的阵型。 11 soc ObjectT ClosestAgent1; doubleClosestOwnDis1;soc = leadingPass(ClosestAgent1,1); 11号开球，则将球传给距离他最近的队友，来减少被截断的可 soc= soc soc soc=

2、soc=， soc soc=soc=，=WM-内 soc = leadingPass(ClosestAgent,1);else/doublesoc=内 soc = leadingPass(ClosestAgent,1);else/doublesoc= soc=/91011 11 11109 soc=doublesoc=elsesoc= 11119 doublesoc=elsesoc= 11119 Copyright(c)2000-2003,JelleKok,Universityofs.ModifiedbyHfut.forserver1).dashdirctionfornotonlyforwar

3、dandbackbutalsoleftrightandother45*(-3,-2).addStamina.CapacityandtheysystermandRedistributionanduseinsourceandbinaryforms,withormodification,arepermittedtthefollowingconditionsare1.Redistributionsofsourcecodemustlistofconditionsandthefollowingheabovecopyrightnotice,2.Redistributionsinbinaryformmustr

4、eproducetheabovecopyrightthislistofconditionsandthefollowingand/orothermaterialsprovidedwiththe3.NeitherthenameoftheUniversityofAmsterdamnorthenamesofcontributorsmaybeusedtoendorseorpromoteproductsderivedfromsoftwarewithoutspecificpriorwritten.THISSOFTWAREISPROVIDEDBYTHECOPYRIGHTHOLDERSANDCONTRIBUTO

5、RSASANDANYEXPRESSORDWARRANTIES,INCLUDING,BUTNOTLI ITEDTO, EED.INNOEVENTSHALLTHECOPYRIGHTOWNERORCONTRIBUTORSBEANDANYEXPRESSORDWARRANTIES,INCLUDING,BUTNOTLI ITEDTO, EED.INNOEVENTSHALLTHECOPYRIGHTOWNERORCONTRIBUTORSBEDAMAGES(INCLUDING,BUTNOTLIMITEDTO,PROCUREMENTOFSUBSTITUTEGOODS;LOSSOFUSE,DATA,ORPROFIT

6、S;OR CAUSEDANDONANYTHEORYOFLIABILITY,WHETHERINCONTRACT,STRICTORTORT(INCLUDINGNEGLIGENCEOROTHERWISE)ARISINGINANYWAYOUTOFTHEOFTHISSOFTWARE,EVENIFADVISEDOFSIBILITYOFSUCH/*!fileRobocupSoccerSimulationTeam:UvATrilearn Jelle KokLast:Thisfilecontainstheclassdefinitionsfortareusedtotesttheteamshighlevel isB

7、eforeKickOff( ) ) / 要做开球后的决策，向下面继续找另外一个 WM-isBeforeKickOff( )ifWM-isKickOffUs&WM-getPlayerNumber(99takeskickmand AgentWMition();/ Agent(/ ();/ =WM-ifWM-isBeforeKickOff( ) ) / 要做开球后的决策，向下面继续找另外一个 WM-isBeforeKickOff( )ifWM-isKickOffUs&WM-getPlayerNumber(99takeskick9 ifWM-isBallKickable() )/ Goal( 0.4*

8、SS-getGoalWidth() );/ soc=Goal,SS-getBallSpeedMax();/Log.log(100,takekickoff /socLog.log(100,movetoballtotakekick-offreturnmandInQueue(soc if(formations-getFormation()!=FT_INITIAL|/notinition()2.0 /goto (WM-ition()/elseturnto (ition(0,0),0) /elseturnto (ition(0,0),0) / formations-setFormationFT_334_

9、OFFENSIVE设置球队出场阵形！ mandType = CMD_ILLEGAL;/soc 命令对象mand(CMD_DASH,80,45)forv14.fixedbyifWM-getConfidence(OBJECT_BALLPS-getBallConfThr判断对球的ifunknownmandInQueue(soc=searchBall()mandInQueuealignNeckWithBodysearchforit 11 soc ObjectT ClosestAgent1; doubleClosestOwnDis1;soc = leadingPass(ClosestAgent1,1);

10、 soc soc=soc=soc= soc=soc=soc= soc= socifkickable / elseif(WM-CircleObjectT ClosestAgent; doubleClosestOwnDis;c=Circle(WM-Num=WM-itionball=WM-=WM-g tGl TNum=WM-itionball=WM-=WM-g tGl T内 soc = leadingPass(ClosestAgent,1);doublesoc= soc=/91011 11 11109 soc=soc=/91011 11 11109 soc=doublesoc=elsesoc= WM

11、&WM-isDeadBallThem() ) / /stesttoLog.log(100,Iamfastesttoball;cangettherein%dcycles,iTmpsocercept(falseercepttheifstamina/ er ifmandType=CMD_DASH )/动er=30.0*WM-getAgentStamina().getRecovery();/dashmandInQueue(soc /ifstaminaended mandInQueue(soc/dash elseif Ball.getX()/10.0) / 1.5+/ifnotnear /ifstami

12、naended mandInQueue(soc/dash elseif Ball.getX()/10.0) / 1.5+/ifnotnear /ifstamina soc=mandInQueue(soc/moveto /elsewatch elseiffabsWM-getRelativeAngle(OBJECT_BALL1.0watchball其他剩下 /nothingto return/*!ThismethodisasimplebasedontheofthesimpleTeamFCPortugal.Itdefinesarectangleinitspenaltyareaandmovestoit

13、iononthisrectanglewheretheersectsifyoumakeantheitionandthecenterofthegoal.IftheballheownpenaltyareatheballerceptedandmandmandAgent=WM-= WM-/definethetopanditionofarectangleinwhichkeepericconstL ftTop(-PI CH_LENGTH/2.0icconst/definethebordersofmandmandAgent=WM-= WM-/definethetopanditionofarectanglein

14、whichkeepericconstL ftTop(-PI CH_LENGTH/2.0icconst/definethebordersofthisrectangleusingthetwossic ic lineFront= ition(-sic lineRight=ition(-if(WM-isBeforeKickOff()if(formations-getFormation()!=FT_INITIAL|/notinition()2.0 /goto ition()/elseturntomandInQueue(soc=( ition(0,0),0returnif(WM-getConfidence

15、(OBJECT_BALL)getBallConfThr()/confidenceball/search elseif(WM-getPlayMode()=PM_PLAY_ON|WM-isFreeKickThem() if(WM-isBallCatchable()mandInQueue(soc=catchBall() elseif(WM-isBallKickable()soc=kickTo(elseif(WM-getPlayMode()=PM_PLAY_ON|WM-isFreeKickThem() if(WM-isBallCatchable()mandInQueue(soc=catchBall()

16、 elseif(WM-isBallKickable()soc=kickTo( mandInQueue(soc elseif(WM-isInOwnPenaltyArea(Ball(&i,true)WM-getAgentObjectType() )mandInQueue(socercept(true) /makelinenowngoalandtheMyGoal=(WM-getSide()=SIDE_LEFT? : LinelineBall=s(WM-/determinewhereyourfrontersectswiththelinefromersect=ersection(lineBall/outsiderectangle,uselineatsidetoifersect= ersect= elseififersect.getX()0.5soc=(mandInQueue(soc ifition()0.5soc=(mandInQueue(soc elseif(WM-isFreeKickUs()=true|WM-isGoalKickUs()=trueif(WM-isBallKickable()if(WM-getTimeSinceLastCatch()=25&W