def __init__(self):
self.ball = Ball(Point(Constants.ball_start_x, Constants.ball_start_y))
self.ally1 = Robot(
Constants.team_us, Constants.ally_1_id,
Position(Point(Constants.ally_1_start_x, Constants.ally_1_start_y),
Angle(Constants.ally_1_start_a, True)))
self.ally2 = Robot(
Constants.team_us, Constants.ally_2_id,
Position(Point(Constants.ally_2_start_x, Constants.ally_2_start_y),
Angle(Constants.ally_2_start_a, True)))
self.opp1 = Robot(
Constants.team_us, Constants.opp_1_id,
Position(Point(Constants.opp_1_start_x, Constants.opp_1_start_y),
Angle(Constants.opp_1_start_a, True)))
self.opp2 = Robot(
Constants.team_us, Constants.opp_2_id,
Position(Point(Constants.opp_2_start_x, Constants.opp_2_start_y),
Angle(Constants.opp_2_start_a, True)))
def get_ellipse_position(game_state):
x_axis = Constants.goalie_dist_from_goal
y_axis = Constants.goal_box_width / 2
point = game_state.field.ball.point
center = Vector(Constants.goal_point_left_x, Constants.goal_point_left_y)
norm_point = point - center
swapped_point = Point(norm_point.y,
norm_point.x) # because x < y for ellipse
return gf.closest_point_on_ellipse(center, x_axis, y_axis, point)
def get_smart_goalie_position(game_state, distance):
"""Return a point at specified distance from goal toward the ball
It will be the closest point from the ball to goal line, where the goal ends
on top and bottom.
game_state (GameState) : Current state of game
distance (Float) : Distance from goal
return (Point) : A point `distance` away from goal in direction of
ball
"""
field_half_w = field_width / 2
# if game_state.game_info.side == 'away':
if game_state.game_info.side == 'home':
field_half_w = -field_half_w
global count, prev_ball_point, prev_prev_ball_point
ball_point = game_state.field.ball.point
count = (count + 1) % 5
if count == 0:
prev_prev_ball_point = prev_ball_point
prev_ball_point = ball_point
delta_x = prev_ball_point.x - prev_prev_ball_point.x
if count == 0:
print 'delta_x = {}'.format(delta_x)
goal_center_point = field_half_w # game_state.game_info.get_home_goal_point()
if abs(delta_x) > 0.01:
delta_y = prev_ball_point.y - prev_prev_ball_point.y
dist_to_goal = goal_center_point - prev_prev_ball_point.x
future_y = delta_y / delta_x * dist_to_goal
else:
future_y = ball_point.y
if future_y > Constants.goal_top_y:
goal_point = Point(goal_center_point, Constants.goal_top_y)
elif future_y < Constants.goal_bottom_y:
goal_point = Point(goal_center_point, Constants.goal_bottom_y)
else:
goal_point = Point(goal_center_point, future_y)
vec = ball_point - goal_point
angle = vec.get_angle()
# print "commanded angle: %s" % angle
offset = angle.get_normalized_vector().get_scaled(distance)
return Position(goal_point + offset, angle)
def test():
from Models import GameState, Field, GameInfo
f1 = Field()
gi1 = GameInfo(Constants.left_side)
gs1 = GameState(f1, gi1)
cmds1 = stay_between_goalnball(gs1, f1.ally2)
print 'cmds1: {}'.format(cmds1)
f2 = Field()
f2.ball.point = Point(1.5, -1.0)
gi2 = GameInfo(Constants.right_side)
gs2 = GameState(f2, gi2)
cmds2 = stay_between_goalnball(gs2, f2.ally2)
print 'cmds2: {}'.format(cmds2)
def _pose2d_to_point(pose2d):
return Point(pose2d.x, pose2d.y)
def _pose2d_to_position(pose2d):
return Position(Point(pose2d.x, pose2d.y), Angle(pose2d.theta, True))
def go_to_center(self):
# set desired position to be center facing goal
center_point = Point(0, 0)
goal_angle = Angle(0, True)
return Position(center_point, goal_angle)
def __init__(self):
super(SkillTest, self).__init__()
self.timer = 0
self.me = Position(Point(0, 0), Angle(0, True))
self.ball = Position(Point(0, 0), Angle(0, True))
def p2d_2_pos(p):
return Position(Point(p.x, p.y), Angle(p.theta, False))
def get_opp_goal_point(self):
return Point(Constants.goal_point_left_x, Constants.goal_point_left_y)
# This isn't working yet
def get_ellipse_position(game_state):
x_axis = Constants.goalie_dist_from_goal
y_axis = Constants.goal_box_width / 2
point = game_state.field.ball.point
center = Vector(Constants.goal_point_left_x, Constants.goal_point_left_y)
norm_point = point - center
swapped_point = Point(norm_point.y,
norm_point.x) # because x < y for ellipse
return gf.closest_point_on_ellipse(center, x_axis, y_axis, point)
count = 0
prev_ball_point = Point(0, 0)
prev_prev_ball_point = Point(0, 0)
field_width = 3.40
def get_smart_goalie_position(game_state, distance):
"""Return a point at specified distance from goal toward the ball
It will be the closest point from the ball to goal line, where the goal ends
on top and bottom.
game_state (GameState) : Current state of game
distance (Float) : Distance from goal
return (Point) : A point `distance` away from goal in direction of
ball