def calculate_properties(self, *args):
if self.visible:
ball_position = args[0]
BaseRobot.calculate_properties(self, ball_position)
if self.desired_position is not None:
self.direction["desired_position"] = Util.get_direction(self.position, self.desired_position)
if self.enemy1.visible:
self.direction["enemy1"] = Util.get_direction(self.position, self.enemy1.position)
if self.enemy2.visible:
self.direction["enemy2"] = Util.get_direction(self.position, self.enemy2.position)
if self.enemy1.visible and self.enemy2.visible:
self.intercept_line = [self.enemy1.position, self.enemy2.position]
if self.facing_attacking_goal:
if self.enemy1.visible and self.enemy2.visible and self.ally.visible:
list_of_robots = [self.ally, self.enemy1, self.enemy2]
self.can_score = Util.can_score(self.attacking_goal, self, list_of_robots)
else:
return True
else:
self.can_score = False
self.direction['attacking goal'] = Util.get_direction(self.position,
Util.get_midpoint(self.attacking_goal_line))
def calculate_properties(self, *args):
if self.visible:
ball_position = args[0]
BaseRobot.calculate_properties(self, ball_position)
if self.desired_position is not None:
self.direction["desired_position"] = Util.get_direction(self.position, self.desired_position)
if self.enemy1.visible:
self.direction["enemy1"] = Util.get_direction(self.position, self.enemy1.position)
if self.enemy2.visible:
self.direction["enemy2"] = Util.get_direction(self.position, self.enemy2.position)
if self.enemy1.visible and self.enemy2.visible:
self.intercept_line = [self.enemy1.position, self.enemy2.position]
def __init__(self, name, role):
BaseRobot.__init__(self, name, role)
self.has_ball_sensor = False
self.desired_position = None
self.direction["desired position"] = None
self.direction["enemy1"] = None
self.direction["enemy2"] = None
self.enemy1 = None
self.enemy2 = None
self.intercept_line = None
def __init__(self, name, role):
BaseRobot.__init__(self, name, role)
self.desired_position = None
self.direction['desired position'] = None
self.desired_heading = None
# properties for the subtask
self.required_bearing = 180
self.required_heading = 180
self.required_grabbing = 0
self.required_kicking = 0
self.grabbingTimeout = time.time()
self.kickTries = 0
self.intercept_line = None
self.enemy1 = None
self.enemy2 = None
self.has_ball_sensor = False
