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
