class Forward_2:
def __init__(self, field, goal, penalty_area, goal_area, robot_size, max_linear_velocity):
self.field = field
self.goal = goal
self.penalty_area = penalty_area
self.goal_area = goal_area
self.robot_size = robot_size
self.max_linear_velocity = max_linear_velocity
self.action = ActionControl(max_linear_velocity)
self.flag = 0
def move(self, robot_id, idx, idx_opp, defense_angle, attack_angle, cur_posture, cur_posture_opp, previous_ball, cur_ball, predicted_ball, cross=False, shoot=False, quickpass=False, jump=False, dribble=False):
#self.action.update_state(cur_posture, cur_ball)
self.action.update_state_2(cur_posture, cur_ball, cur_posture_opp)
x = cur_posture_opp[robot_id][X]
y = cur_posture_opp[robot_id][Y]
self.flag = 1
left_wheel, right_wheel = self.action.go_to(robot_id, x, y)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
class Goalkeeper:
def __init__(self, field, goal, penalty_area, goal_area, robot_size, max_linear_velocity):
self.field = field
self.goal = goal
self.penalty_area = penalty_area
self.goal_area = goal_area
self.robot_size = robot_size
self.max_linear_velocity = max_linear_velocity
self.action = ActionControl(max_linear_velocity)
self.flag = 0
def move(self, robot_id, idx, idx_opp, defense_angle, attack_angle, cur_posture, cur_posture_opp, previous_ball, cur_ball, predicted_ball, cross=False, shoot=False, quickpass=False, jump=False, dribble=False):
# self.action.update_state(cur_posture, cur_ball)
self.action.update_state_2(cur_posture, cur_ball, cur_posture_opp)
x = cur_posture_opp[robot_id][X]
y = cur_posture_opp[robot_id][Y]
self.flag = 1
"""
protection_radius = self.goal_area[Y] / 2 - 0.1
angle = defense_angle
protection_x = math.cos(angle) * protection_radius - self.field[X] / 2
protection_y = math.sin(angle) * protection_radius
if helper.ball_is_own_goal(predicted_ball, self.field, self.goal_area):
x = protection_x
y = protection_y
self.flag = 1
elif helper.ball_is_own_penalty(predicted_ball, self.field, self.penalty_area):
x = protection_x
y = protection_y
self.flag = 2
elif helper.ball_is_own_field(predicted_ball):
x = protection_x
y = protection_y
self.flag = 3
elif helper.ball_is_opp_goal(predicted_ball, self.field, self.goal_area):
x = protection_x
y = protection_y
self.flag = 4
elif helper.ball_is_opp_penalty(predicted_ball, self.field, self.penalty_area):
x = protection_x
y = protection_y
self.flag = 5
else:
x = protection_x
y = protection_y
self.flag = 6
"""
left_wheel, right_wheel = self.action.go_to(robot_id, x, y)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
class Forward_2:
def __init__(self, field, goal, penalty_area, goal_area, robot_size,
max_linear_velocity):
self.field = field
self.goal = goal
self.penalty_area = penalty_area
self.goal_area = goal_area
self.robot_size = robot_size
self.max_linear_velocity = max_linear_velocity
self.action = ActionControl(max_linear_velocity)
self.flag = 0
def move(self,
robot_id,
idx,
idx_opp,
defense_angle,
attack_angle,
cur_posture,
cur_posture_opp,
prev_posture,
previous_ball,
cur_ball,
predicted_ball,
cross=False,
shoot=False,
quickpass=False,
jump=False,
dribble=False):
self.action.update_state(cur_posture, prev_posture, cur_ball,
previous_ball)
## 회전하기
dx = cur_ball[X] - previous_ball[X]
dy = cur_ball[Y] - previous_ball[Y] + 0.00000001 #zero division
pred_x = predicted_ball[X]
steps = (cur_posture[robot_id][Y] - cur_ball[Y]) / dy
#로봇 앞에 공 위치할 때
if (pred_x > cur_posture[robot_id][X]):
pred_dist = pred_x - cur_posture[robot_id][X]
# 예측된 공의 위치가 가까우면, 소유할 경우만 (가져도 회전하느라 공이 이동해버린다....)
if (pred_dist > 0.1 and pred_dist < 0.3
and steps < 10) and cur_posture[robot_id][BALL_POSSESSION]:
#상대팀 골대 방향 찾고 그쪽으로 회전
goal_angle = helper.direction_angle(self, robot_id,
self.field[X] / 2, 0,
cur_posture)
left_wheel, right_wheel = self.action.turn_to(
robot_id, goal_angle)
kick_speed, kick_angle = self.action.kick(
cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
## 공이 내 진영 골 영역 or 패널티 영역에 있을 때
if helper.ball_is_own_goal(
predicted_ball, self.field,
self.goal_area) or helper.ball_is_own_penalty(
predicted_ball, self.field, self.penalty_area):
x = cur_ball[X]
y = cur_ball[Y]
self.flag = 1
#근데 골 점유한 경우
if cur_posture[robot_id][BALL_POSSESSION]:
self.flag = 2
#크로스
#a=self.action.cross_to(self,robot_id,self.field[X]/2,0,cur_posture)
a = self.action.cross_to(robot_id, self.field[X] / 2, 0,
0.421) #0.421: robot_height
#크로스 실패시
if a == None:
shoot = True
self.flag = 3
## 현재 위치에서 shoot chance가 있을 때
elif (helper.shoot_chance(self, robot_id, cur_posture, cur_ball)):
x = predicted_ball[X]
y = predicted_ball[Y]
self.flag = 4
if cur_posture[robot_id][BALL_POSSESSION]:
try:
b = self.action.shoot_to(robot_id, self.field[X] / 2, 0)
self.flag = 5
except:
shoot = True
self.flag = 6
else:
if (cur_ball[X] > -0.3 * self.field[X] / 2):
self.flag = 7
# if the robot can push the ball toward opponent's side, do it
if (cur_posture[robot_id][X] < cur_ball[X] - 0.05):
x = cur_ball[X]
y = cur_ball[Y]
self.flag = 8
if cur_posture[robot_id][BALL_POSSESSION]:
self.flag = 9
shoot = True
else:
# otherwise go behind the ball
if (abs(cur_ball[Y] - cur_posture[robot_id][Y]) > 0.3):
x = cur_ball[X] - 0.2
y = cur_ball[Y]
self.flag = 10
else:
x = cur_ball[X] - 0.2
y = cur_posture[robot_id][Y]
self.flag = 11
else:
#x = -0.1 * self.field[X] / 2
try: #조금씩 이동+패스
goalx = self.field[X] / 2
goaly = 0
robotx = cur_posture[robot_id][X]
roboty = cur_posture[robot_id][Y]
dx = (robotx + goalx) / 6
dy = (roboty + goaly) / 6
self.action.pass_to(robot_id, dx, dy)
#print(dx)
#print(dy)
x = dx
y = dy
self.flag = 12
except:
x = cur_ball[X]
y = cur_ball[Y]
self.flag = 13
'''
if helper.ball_is_own_goal(predicted_ball, self.field, self.goal_area):
x = -0.5
y = -1
self.flag = 1
elif helper.ball_is_own_penalty(predicted_ball, self.field, self.penalty_area):
x = -0.5
y = -1
self.flag = 2
elif helper.ball_is_own_field(predicted_ball):
x = cur_ball[X]
y = cur_ball[Y]
self.flag = 3
elif helper.ball_is_opp_goal(predicted_ball, self.field, self.goal_area):
x = cur_ball[X]
y = cur_ball[Y]
self.flag = 4
if cur_posture[robot_id][BALL_POSSESSION]:
quickpass = True
self.flag = 5
elif helper.ball_is_opp_penalty(predicted_ball, self.field, self.penalty_area):
x = cur_ball[X]
y = cur_ball[Y]
self.flag = 6
if cur_posture[robot_id][BALL_POSSESSION]:
cross = True
self.flag = 7
else:
x = cur_ball[X]
y = cur_ball[Y]
self.flag = 8
if cur_posture[robot_id][BALL_POSSESSION]:
shoot = True
self.flag = 9
'''
'''
# if the ball is coming toward the robot, seek for shoot chance
if (robot_id == idx and helper.ball_coming_toward_robot(robot_id, cur_posture, previous_ball, cur_ball)):
dx = cur_ball[X] - previous_ball[X]
dy = cur_ball[Y] - previous_ball[Y]
pred_x = predicted_ball[X]
steps = (cur_posture[robot_id][Y] - cur_ball[Y]) / dy
# if the ball will be located in front of the robot
if (pred_x > cur_posture[robot_id][X]):
pred_dist = pred_x - cur_posture[robot_id][X]
# if the predicted ball location is close enough
if (pred_dist > 0.1 and pred_dist < 0.3 and steps < 10):
# find the direction towards the opponent goal and look toward it
goal_angle = helper.direction_angle(self, robot_id, self.field[X] / 2, 0, cur_posture)
left_wheel, right_wheel = self.action.turn_to(robot_id, goal_angle)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
# if the robot can shoot from current position
if (robot_id == idx and helper.shoot_chance(self, robot_id, cur_posture, cur_ball)):
x = predicted_ball[X]
y = predicted_ball[Y]
if cur_posture[robot_id][BALL_POSSESSION]:
shoot = True
# if this forward is closer to the ball
elif (robot_id == idx):
if (cur_ball[X] > -0.3 * self.field[X] / 2):
# if the robot can push the ball toward opponent's side, do it
if (cur_posture[robot_id][X] < cur_ball[X] - 0.05):
x = cur_ball[X]
y = cur_ball[Y]
if cur_posture[robot_id][BALL_POSSESSION]:
shoot = True
else:
# otherwise go behind the ball
if (abs(cur_ball[Y] - cur_posture[robot_id][Y]) > 0.3):
x = cur_ball[X] - 0.2
y = cur_ball[Y]
else:
x = cur_ball[X] - 0.2
y = cur_posture[robot_id][Y]
else:
x = -0.1 * self.field[X] / 2
y = cur_ball[Y]
# if this forward is not closer to the ball
else:
if (cur_ball[X] > -0.3 * self.field[X] / 2):
x = cur_ball[X] - 0.25
y = cur_ball[Y] - 0.5
else:
# ball is on right side
if (cur_ball[Y] < 0):
x = -0.1 * self.field[X] / 2
y = min(cur_ball[Y] - 0.5, self.field[Y] / 2 - self.robot_size / 2)
# ball is on left side
else:
x = -0.1 * self.field[X] / 2
y = max(cur_ball[Y] - 0.5, -self.field[Y] / 2 + self.robot_size / 2)
'''
left_wheel, right_wheel = self.action.go_to(robot_id, x, y)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
class Goalkeeper:
def __init__(self, field, goal, penalty_area, goal_area, robot_size,
max_linear_velocity):
self.field = field
self.goal = goal
self.penalty_area = penalty_area
self.goal_area = goal_area
self.robot_size = robot_size
self.max_linear_velocity = max_linear_velocity
self.action = ActionControl(max_linear_velocity)
self.robot_height = 0.421
self.flag = 0
def move(self,
robot_id,
idx,
idx_opp,
defense_angle,
attack_angle,
cur_posture,
cur_posture_opp,
prev_posture,
previous_ball,
cur_ball,
predicted_ball,
cross=False,
shoot=False,
quickpass=False,
jump=False,
dribble=False):
self.action.update_state(cur_posture, prev_posture, cur_ball,
previous_ball)
self.flag = 0
protection_radius = self.goal_area[Y] / 2 - 0.1
angle = defense_angle
protection_x = math.cos(angle) * protection_radius - self.field[X] / 2
protection_y = math.sin(angle) * protection_radius
if helper.ball_is_own_goal(predicted_ball, self.field, self.goal_area):
# if ball inside goal area: DANGER
x = protection_x
y = protection_y
elif helper.ball_is_own_penalty(predicted_ball, self.field,
self.penalty_area):
# if the ball is behind the goalkeeper
if (cur_ball[X] < cur_posture[robot_id][X]):
# if the ball is not blocking the goalkeeper's path
if (abs(cur_ball[Y] - cur_posture[robot_id][Y]) >
2 * self.robot_size):
# try to get ahead of the ball
x = cur_ball[X] - self.robot_size
y = cur_posture[robot_id][Y]
else:
# just give up and try not to make a suicidal goal
left_wheel, right_wheel = self.action.turn_to(
robot_id, math.pi / 2)
kick_speed, kick_angle = self.action.kick(
cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
# if the ball is ahead of the goalkeeper
else:
desired_th = helper.direction_angle(self, robot_id,
cur_ball[X], cur_ball[Y],
cur_posture)
rad_diff = helper.wrap_to_pi(desired_th -
cur_posture[robot_id][TH])
# if the robot direction is too away from the ball direction
if (rad_diff > math.pi / 3):
# give up kicking the ball and block the goalpost
x = -self.field[X] / 2 + self.robot_size / 2 + 0.05
y = max(
min(cur_ball[Y],
(self.goal[Y] / 2 - self.robot_size / 2)),
-self.goal[Y] / 2 + self.robot_size / 2)
else:
if cur_ball[Z] > 0.2:
# try to jump in the ball direction
x = cur_ball[X]
y = cur_ball[Y]
jump = True
else:
# try to kick the ball away from the goal
x = cur_ball[X]
y = cur_ball[Y]
#슛을 F2에게로
try:
self.action.shoot_to(robot_id, cur_posture[5][X],
cur_posture[5][Y])
self.flag = 1
except:
shoot = True
self.flag = 2
else:
# if ball outside penalty area, protect against kicks
x = protection_x
y = protection_y
left_wheel, right_wheel = self.action.go_to(robot_id, x, y)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
class Forward_2:
def __init__(self, field, goal, penalty_area, goal_area, robot_size,
max_linear_velocity):
self.field = field
self.goal = goal
self.penalty_area = penalty_area
self.goal_area = goal_area
self.robot_size = robot_size
self.max_linear_velocity = max_linear_velocity
self.action = ActionControl(max_linear_velocity)
self.flag = 0
def move(self,
robot_id,
idx,
idx_opp,
defense_angle,
attack_angle,
cur_posture,
cur_posture_opp,
previous_ball,
cur_ball,
predicted_ball,
cross=False,
shoot=False,
quickpass=False,
jump=False,
dribble=False):
self.action.update_state(cur_posture, cur_ball)
if helper.ball_is_own_goal(predicted_ball, self.field, self.goal_area):
x = -4.5
y = -0.5
self.flag = 1
elif helper.ball_is_own_penalty(predicted_ball, self.field,
self.penalty_area):
x = -4.5
y = -0.5
self.flag = 2
elif helper.ball_is_own_field(predicted_ball):
x = cur_ball[X]
y = cur_ball[Y]
self.flag = 3
elif helper.ball_is_opp_goal(predicted_ball, self.field,
self.goal_area):
x = cur_ball[X]
y = cur_ball[Y]
self.flag = 4
if cur_posture[robot_id][BALL_POSSESSION]:
shoot = True
self.flag = 5
elif helper.ball_is_opp_penalty(predicted_ball, self.field,
self.penalty_area):
x = cur_ball[X]
y = cur_ball[Y]
self.flag = 6
if cur_posture[robot_id][BALL_POSSESSION]:
shoot = True
self.flag = 7
else:
x = cur_ball[X]
y = cur_ball[Y]
self.flag = 8
left_wheel, right_wheel = self.action.go_to(robot_id, x, y)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode