def __init__(self, name, passerNo, shooterNo):
super(PassShoot, self).__init__(name)
# 1 passerがボールに近づく
FIRST = ParallelOne("FIRST")
FIRST.add_child(
Kick.SetPassTarget("Set pass target", passerNo, shooterNo))
FIRST.add_child(Kick.Approach("Passer approach", passerNo))
FIRST.add_child(BaseSkill.SuccessTimer("SuccessTimer1.0", 1.0))
self.add_child(FIRST)
# 2 shooterがshoot位置に移動する
SECOND = ParallelOne("SECOND")
SECOND.add_child(BaseSkill.WaitToReceive("Shooter wait", shooterNo))
SECOND.add_child(
Analyst.IsOnTarget("Shooter is on target", shooterNo, 0.5))
SECOND.add_child(BaseSkill.SuccessTimer("SuccessTimer2.0", 3.0))
self.add_child(SECOND)
#
# 3 passerがボールを蹴る
THIRD = ParallelAll("THIRD")
THIRD.add_child(
Kick.SetPassTarget("Set pass target", passerNo, shooterNo))
THIRD.add_child(Kick.Pass("PASS", passerNo))
# 3 shooterが受け取りshootする
THIRD.add_child(Kick.CalcuKickTarget("CalcuKickTarget", shooterNo))
THIRD.add_child(Kick.ReceiveShoot("ReceiveShoot", shooterNo))
THIRD.add_child(BaseSkill.FailureTimer("FailureTimer7.0", 10.0))
INVERT = Invert("Invert")
INVERT.add_child(Analyst.IsBaller("IsBaller", shooterNo, 1.0))
THIRD.add_child(INVERT)
self.add_child(THIRD)
def __init__(self, name):
super(ExeNormal_Pre, self).__init__(name)
self.add_child(Analyst.ThereAreRobots("ThereAreRobots"))
self.add_child(GoalKeeper.StopGame("GoalKeeperStop", 0))
self.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 1))
self.add_child(Kick.Approach("Approach", 1))
self.add_child(Defender.StopGame("DefenderStop", 2))
def __init__(self, name):
super(Prepare, self).__init__(name)
EXE_SELECTOR = Selector("EXE_SELECTOR")
ONE_ROBOT = ParallelAll("ONE_ROBOT")
ONE_ROBOT.add_child(Analyst.ThereIsOnlyOneRobot("ThereIsOneRobot"))
ONE_ROBOT.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0))
ONE_ROBOT.add_child(Kick.Approach("Approach", 0))
EXE_SELECTOR.add_child(ONE_ROBOT)
SOME_ROBOTS = ParallelAll("SOME_ROBOTS")
SOME_ROBOTS.add_child(Analyst.ThereAreRobots("ThereAreRobots"))
SOME_ROBOTS.add_child(GoalKeeper.StopGame("GoalKeeperStop", 0))
SOME_ROBOTS.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 1))
SOME_ROBOTS.add_child(Kick.Approach("Approach", 1))
SOME_ROBOTS.add_child(Defender.StopGame("DefenderStop", 2))
EXE_SELECTOR.add_child(SOME_ROBOTS)
self.add_child(IsPENALTY_FRIEND("IsPENALTY_FRIEND"))
self.add_child(EXE_SELECTOR)
def __init__(self, name):
super(ExeOneRobot_Pre, self).__init__(name)
self.add_child(Analyst.ThereIsOnlyOneRobot("ThereIsOneRobot"))
self.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0))
self.add_child(Kick.Approach("Approach", 0))