def _penalty_shoot(my_pose,
ball_info,
control_target,
kick_enable,
target_pose,
kick_power=1.0):
# PK用のシュートアクション
# kick_enable is Falseで、ボールの近くまで移動する
# kick_enable is True で、シュートする
KICK_POWER = kick_power
SHOOT_TARGET = target_pose
DRIBBLE_POWER = 0.5
angle_ball_to_target = tool.get_angle(ball_info.pose, SHOOT_TARGET)
trans = tool.Trans(ball_info.pose, angle_ball_to_target)
tr_my_pose = trans.transform(my_pose)
random_num = Observer.random_zero_one()
if random_num == 0:
target_goal_side = Field.goal_pose('their', 'upper')
else:
target_goal_side = Field.goal_pose('their', 'lower')
angle_to_target_side = tool.get_angle(my_pose, target_goal_side)
# ロボットがボールの裏側に回ったらcan_kick is True
can_kick = False
if tr_my_pose.x > -0.2 and math.fabs(tr_my_pose.y) < 0.05:
can_kick = True
avoid_ball = True # ボールを回避する
new_goal_pose = Pose2D()
if can_kick and kick_enable:
# ボールをける
avoid_ball = False
# ボールの前方に移動する
new_position = trans.inverted_transform(Pose2D(0, 0, 0))
new_goal_pose = new_position
new_goal_pose.theta = angle_to_target_side
# ドリブルとキックをオン
control_target.dribble_power = DRIBBLE_POWER
control_target.kick_power = KICK_POWER
else:
Observer.update_random_zero_one()
# ボールの裏に移動する
new_position = trans.inverted_transform(Pose2D(-0.1, 0, 0))
new_goal_pose = new_position
new_goal_pose.theta = angle_ball_to_target
# ドリブルとキックをオフ
control_target.kick_power = 0.0
control_target.dribble_power = 0.0
# パスを追加
control_target.path = []
control_target.path.append(new_goal_pose)
return control_target, avoid_ball
