def can_collect_ball_before_opponent(our_robots_to_check=None,
their_robots_to_check=None,
our_robots_to_dodge=None,
their_robots_to_dodge=None,
valid_error_percent=0.05):
if our_robots_to_check is None:
our_robots_to_check = main.our_robots()
if their_robots_to_check is None:
their_robots_to_check = main.their_robots()
if our_robots_to_dodge is None:
our_robots_to_dodge = main.our_robots()
if their_robots_to_dodge is None:
their_robots_to_dodge = main.their_robots()
shortest_opp_time = float("inf")
shortest_our_time = float("inf")
dodge_dist = constants.Robot.Radius
closest_robot = None
# TODO: Do some sort of prediction as the ball moves
target_pos = main.ball().pos
# TODO: Take velocity and acceleration into account
# Find closest opponent robot
for bot in their_robots_to_check:
dist = estimate_path_length(bot.pos, target_pos, our_robots_to_dodge,
dodge_dist)
target_dir = (target_pos - bot.pos).normalized()
time = robocup.get_trapezoidal_time(
dist, dist, 2.2, 1,
target_dir.dot(bot.vel) / target_dir.mag(), 0)
if (time < shortest_opp_time):
shortest_opp_time = time
# Find closest robot on our team
for bot in our_robots_to_check:
dist = estimate_path_length(bot.pos, target_pos, their_robots_to_dodge,
dodge_dist)
target_dir = (target_pos - bot.pos).normalized()
time = robocup.get_trapezoidal_time(
dist, dist, 2.2, 1,
target_dir.dot(bot.vel) / target_dir.mag(), 0)
if (time < shortest_our_time):
shortest_our_time = time
closest_robot = bot
# Greater than 1 when we are further away
print(shortest_our_time)
print(shortest_opp_time)
return shortest_our_time < shortest_opp_time * (
1 + valid_error_percent), closest_robot
def role_assignment_cost(robot):
# Estimate the time it takes to intercept the ball
# Use straight line distance to closest point along line
# Then movement down the line
# Represents ball movement line
ball_move_line = robocup.Line(main.ball().pos,
main.ball().pos + main.ball().vel * 10)
# Closest point to robot on ball movement line
ball_line_intercept = ball_move_line.nearest_point(robot.pos)
ball_to_robot = robot.pos - main.ball().pos
ball_to_intercept = ball_line_intercept - main.ball().pos
robot_to_intercept = ball_line_intercept - robot.pos
# If we are actually in front of the ball angle wise
# OR close enough that it could be a bounce off the robot due to noisy vision
in_front = ball_move_line.delta().angle_between(ball_to_robot) < math.pi/2 or \
ball_to_robot.mag() < 1.5*(constants.Robot.Radius + constants.Ball.Radius)
# Calculate how much further the ball will move before we reach the point
max_speed = robocup.MotionConstraints.MaxRobotSpeed.value
max_acc = robocup.MotionConstraints.MaxRobotAccel.value
# How long it will take the robot/ball to reach that intercept point
ball_secs = main.ball().estimate_seconds_to(ball_line_intercept)
robot_secs = robocup.get_trapezoidal_time(robot_to_intercept.mag(),
robot_to_intercept.mag(),
max_speed, max_acc, 0, 0)
time_to_hit = robot_secs
# If we aren't in front of the ball, we need to get time to catch up
if (not in_front):
# Difference in speed between us and ball
delta_speed = max_speed - main.ball().vel.mag()
# if we are slower than the ball, don't even try and just exclude it automatically
if (delta_speed < 0):
time_to_hit += 100
# If we are fast, figure out how much more time we need
else:
delta_time = robocup.get_trapezoidal_time(
ball_to_intercept.mag(), ball_to_intercept.mag(),
delta_speed, max_acc, 0, 0)
time_to_hit += delta_time
#main.debug_drawer().draw_text(str(time_to_hit), robot.pos + robocup.Point(0.1,0.1), (255,255,255), "test")
return time_to_hit * Capture.SETTLE_COST_MULTIPLIER
def can_collect_ball_before_opponent(our_robots_to_check=None,
their_robots_to_check=None,
our_robots_to_dodge=None,
their_robots_to_dodge=None,
valid_error_percent=0.05):
if our_robots_to_check is None:
our_robots_to_check = main.our_robots()
if their_robots_to_check is None:
their_robots_to_check = main.their_robots()
if our_robots_to_dodge is None:
our_robots_to_dodge = main.our_robots()
if their_robots_to_dodge is None:
their_robots_to_dodge = main.their_robots()
shortest_opp_time = float("inf")
shortest_our_time = float("inf")
dodge_dist = constants.Robot.Radius
closest_robot = None
# TODO: Do some sort of prediction as the ball moves
target_pos = main.ball().pos
# TODO: Take velocity and acceleration into account
# Find closest opponent robot
for bot in their_robots_to_check:
dist = estimate_path_length(bot.pos, target_pos, our_robots_to_dodge,
dodge_dist)
target_dir = (target_pos - bot.pos).normalized()
time = robocup.get_trapezoidal_time(dist, dist, 2.2, 1,
target_dir.dot(bot.vel) /
target_dir.mag(), 0)
if (time < shortest_opp_time):
shortest_opp_time = time
# Find closest robot on our team
for bot in our_robots_to_check:
dist = estimate_path_length(bot.pos, target_pos, their_robots_to_dodge,
dodge_dist)
target_dir = (target_pos - bot.pos).normalized()
time = robocup.get_trapezoidal_time(dist, dist, 2.2, 1,
target_dir.dot(bot.vel) /
target_dir.mag(), 0)
if (time < shortest_our_time):
shortest_our_time = time
closest_robot = bot
return shortest_our_time < shortest_opp_time * (1 + valid_error_percent
), closest_robot
def find_intercept_point(self):
approach_vec = self.approach_vector()
# sample every 5 cm in the -approach_vector direction from the ball
pos = None
for i in range(50):
dist = i * 0.05
pos = main.ball().pos + approach_vec * dist
# how long will it take the ball to get there
ball_time = evaluation.ball.rev_predict(main.ball().vel, dist)
robotDist = (pos - self.robot.pos).mag() * 0.6
bot_time = robocup.get_trapezoidal_time(robotDist, robotDist, 2.2, 1, self.robot.vel.mag(), 0)
if bot_time < ball_time:
break
return pos
def find_intercept_point(self):
approach_vec = self.approach_vector()
# sample every 5 cm in the -approach_vector direction from the ball
pos = None
for i in range(50):
dist = i * 0.05
pos = main.ball().pos + approach_vec * dist
# how long will it take the ball to get there
ball_time = evaluation.ball.rev_predict(main.ball().vel, dist)
robotDist = (pos - self.robot.pos).mag() * 0.6
bot_time = robocup.get_trapezoidal_time(robotDist, robotDist, 2.2,
1, self.robot.vel.mag(), 0)
if bot_time < ball_time:
break
return pos
def find_robot_capture_point(robot):
if robot is None:
return main.ball().pos
approach_vec = approach_vector(robot)
# sample every 5 cm in the -approach_vector direction from the ball
pos = None
for i in range(50):
dist = i * 0.05
pos = main.ball().pos + approach_vec * dist
# how long will it take the ball to get there
ball_time = evaluation.ball.rev_predict(dist)
robotDist = (pos - robot.pos).mag() * 0.6
bot_time = robocup.get_trapezoidal_time(robotDist, robotDist, 2.2, 1,
robot.vel.mag(), 0)
if bot_time < ball_time:
break
return pos