def closestToTeamBall():
teamBall = blackboard.localisation.teamBall
if teamBall.contributors == 0:
return False
myPos = blackboard.localisation.robotPos
turnAngle = abs(FieldGeometry.angleToTeamBallToGoal(teamBall.pos, myPos))
myDist = math.hypot(teamBall.pos.x - myPos.x, teamBall.pos.y - myPos.y) + turnAngle*(1000.0/math.pi)
otherDist = minWeightedDistanceToTeamBall()[0]
return myDist < (otherDist * 1.4)
def closestToTeamBall():
teamBall = blackboard.localisation.teamBall
if teamBall.contributors == 0:
return False
myPos = blackboard.localisation.robotPos
turnAngle = abs(FieldGeometry.angleToTeamBallToGoal(teamBall.pos, myPos))
myDist = math.hypot(teamBall.pos.x - myPos.x, teamBall.pos.y -
myPos.y) + turnAngle * (1000.0 / math.pi)
otherDist = minWeightedDistanceToTeamBall()[0]
return myDist < (otherDist * 1.4)
def minWeightedDistanceToTeamBall():
incapacitated = blackboard.receiver.incapacitated
minDist = robot.FULL_FIELD_LENGTH
minDistPlayer = blackboard.gameController.player_number
teamData = blackboard.receiver.data
teamBallPos = blackboard.localisation.teamBall.pos
for i in xrange(robot.ROBOTS_PER_TEAM):
robotPos = teamData[i].robotPos
lostCount = teamData[i].lostCount
if (i+1) != blackboard.gameController.player_number and not incapacitated[i] and i+1 != 1:
if not math.isnan(robotPos.x):
turnAngle = abs(FieldGeometry.angleToTeamBallToGoal(teamBallPos, robotPos))
weightedDist = math.hypot(teamBallPos.x - robotPos.x, teamBallPos.y - robotPos.y) + turnAngle*(1000.0/math.pi)
if weightedDist < minDist:
minDist = weightedDist
minDistPlayer = i+1
return minDist, minDistPlayer
def minWeightedDistanceToTeamBall():
incapacitated = blackboard.receiver.incapacitated
minDist = robot.FULL_FIELD_LENGTH
minDistPlayer = blackboard.gameController.player_number
teamData = blackboard.receiver.data
teamBallPos = blackboard.localisation.teamBall.pos
for i in xrange(robot.ROBOTS_PER_TEAM):
robotPos = teamData[i].robotPos
lostCount = teamData[i].lostCount
if (i + 1
) != blackboard.gameController.player_number and not incapacitated[
i] and i + 1 != 1:
if not math.isnan(robotPos.x):
turnAngle = abs(
FieldGeometry.angleToTeamBallToGoal(teamBallPos, robotPos))
weightedDist = math.hypot(
teamBallPos.x - robotPos.x, teamBallPos.y -
robotPos.y) + turnAngle * (1000.0 / math.pi)
if weightedDist < minDist:
minDist = weightedDist
minDistPlayer = i + 1
return minDist, minDistPlayer
