def __init__(self, p_game_state):
super().__init__(p_game_state)
self.add_tactic(0, Stop(self.game_state, 0))
self.add_tactic(
0, GoStraightTo(self.game_state, 0, Pose(Position(-500, -500))))
self.add_tactic(
0, GoStraightTo(self.game_state, 0, Pose(Position(-1500, -1500))))
self.add_condition(0, 0, 1, self.condition2)
self.add_condition(0, 1, 2, self.condition)
self.add_condition(0, 2, 0, self.condition)
self.add_tactic(1,
GoStraightTo(self.game_state, 1, Pose(Position(0, 0))))
self.add_tactic(
1, GoStraightTo(self.game_state, 1, Pose(Position(1000, 0))))
self.add_tactic(
1, GoStraightTo(self.game_state, 1, Pose(Position(1000, 1000))))
self.add_tactic(
1, GoStraightTo(self.game_state, 1, Pose(Position(0, 1000))))
self.add_condition(1, 0, 1, self.condition1)
self.add_condition(1, 1, 2, self.condition1)
self.add_condition(1, 2, 3, self.condition1)
self.add_condition(1, 3, 0, self.condition1)
for i in range(2, 6):
self.add_tactic(i, Stop(self.game_state, i))
def __init__(self, p_game_state):
super().__init__(p_game_state)
self.passing_ID = 5
self.player_ID_no1 = 2
self.player_ID_no2 = 3
self.goal_ID = None
self.goal = (Pose(Position(self.game_state.const["FIELD_GOAL_YELLOW_X_LEFT"], 0), 0))
self.add_tactic(self.passing_ID, Stop(self.game_state, self.passing_ID))
self.add_tactic(self.passing_ID, PassToPlayer(self.game_state, self.passing_ID, target_id=self.player_ID_no1))
self.add_tactic(self.passing_ID, PassToPlayer(self.game_state, self.passing_ID, target_id=self.player_ID_no2))
self.add_tactic(self.passing_ID, GoKick(self.game_state, self.passing_ID, self.goal))
self.add_condition(self.passing_ID, 0, 1, partial(self.is_best_receiver, self.player_ID_no1))
self.add_condition(self.passing_ID, 0, 2, partial(self.is_best_receiver, self.player_ID_no2))
self.add_condition(self.passing_ID, 0, 3, partial(self.is_best_receiver, None))
self.add_condition(self.passing_ID, 1, 0, partial(self.condition, self.passing_ID))
self.add_condition(self.passing_ID, 2, 0, partial(self.condition, self.passing_ID))
self.add_condition(self.passing_ID, 3, 0, partial(self.condition, self.passing_ID))
for i in range(PLAYER_PER_TEAM):
if not (i == self.passing_ID):
self.add_tactic(i, Stop(self.game_state, i))
def __init__(self, p_game_state):
tactics = [
GoToPositionNoPathfinder(p_game_state, 0),
Stop(p_game_state, 1),
Stop(p_game_state, 2),
Stop(p_game_state, 3),
Stop(p_game_state, 4),
Stop(p_game_state, 5)
]
super().__init__(p_game_state, tactics)
def __init__(self, p_game_state):
super().__init__(p_game_state)
self.add_tactic(0, GoalKeeper(self.game_state, 0))
for i in range(1, PLAYER_PER_TEAM):
self.add_tactic(i, Stop(self.game_state, i))
def __init__(self, p_game_state):
super().__init__(p_game_state)
self.goalkeeper = 3
self.passing_robot = 5
self.receiver = 4
goal1 = Pose(Position(-1636, 0))
goal2 = Pose(Position(1636, 0))
self.add_tactic(self.goalkeeper,
GoalKeeper(self.game_state, self.goalkeeper))
receiver_pose = Pose(Position(-500, -500))
self.add_tactic(
self.receiver,
PositionForPass(self.game_state, self.receiver, receiver_pose))
self.add_tactic(self.receiver,
GoKick(self.game_state, self.receiver, goal1))
self.add_condition(
self.receiver, 0, 1,
partial(self.is_passing_robot_success, self.receiver))
self.add_condition(
self.receiver, 1, 0,
partial(self.has_receiver_kicked_to_goal, self.receiver))
self.add_tactic(
self.passing_robot,
Capture(self.game_state, self.passing_robot, receiver_pose))
self.add_tactic(
self.passing_robot,
GoKick(self.game_state, self.passing_robot, receiver_pose))
self.add_tactic(self.passing_robot,
Stop(self.game_state, self.passing_robot))
self.add_condition(self.passing_robot, 0, 1,
partial(self.is_receiver_ready, self.passing_robot))
self.add_condition(
self.passing_robot, 1, 2,
partial(self.is_passing_robot_success, self.passing_robot))
self.add_condition(
self.passing_robot, 2, 0,
partial(self.has_receiver_kicked_to_goal, self.passing_robot))
self.add_condition(self.passing_robot, 2, 1,
partial(self.is_receiver_ready, self.passing_robot))
for i in range(PLAYER_PER_TEAM):
if not (i == self.goalkeeper or i == self.passing_robot
or i == self.receiver):
self.add_tactic(i, Stop(self.game_state, i))
def __init__(self, p_game_state):
super().__init__(p_game_state)
# ID Robot Indiana Jones : 0
# ID Robot obstacles mouvants : 1 et 2
indiana = self.game_state.my_team.available_players[4]
obs_right = self.game_state.my_team.available_players[5]
obs_left = self.game_state.my_team.available_players[3]
# Positions objectifs d'Indiana Jones
goal_left = (Pose(
Position(self.game_state.const["FIELD_GOAL_YELLOW_X_LEFT"], 0), 0))
goal_right = (Pose(
Position(self.game_state.const["FIELD_GOAL_BLUE_X_RIGHT"], 0), 0))
# Positions objectifs des obstacles
y_down = self.game_state.const["FIELD_Y_BOTTOM"] + 500
y_top = self.game_state.const["FIELD_Y_TOP"] - 500
x_left = self.game_state.const["FIELD_X_LEFT"] + 500
x_right = self.game_state.const["FIELD_X_RIGHT"] - 500
self.add_tactic(
indiana.id,
GoToPositionPathfinder(self.game_state, indiana, goal_left))
self.add_tactic(
indiana.id,
GoToPositionPathfinder(self.game_state, indiana, goal_right))
self.add_condition(indiana.id, 0, 1, partial(self.condition, indiana))
self.add_condition(indiana.id, 1, 0, partial(self.condition, indiana))
self.add_tactic(
obs_left.id,
GoToPositionPathfinder(self.game_state, obs_left,
Pose(Position(x_left / 2, y_top))))
self.add_tactic(
obs_left.id,
GoToPositionPathfinder(self.game_state, obs_left,
Pose(Position(x_left / 2, y_down))))
self.add_condition(obs_left.id, 0, 1, partial(self.condition,
obs_left))
self.add_condition(obs_left.id, 1, 0, partial(self.condition,
obs_left))
self.add_tactic(
obs_right.id,
GoToPositionPathfinder(self.game_state, obs_right,
Pose(Position(x_right / 2, y_top))))
self.add_tactic(
obs_right.id,
GoToPositionPathfinder(self.game_state, obs_right,
Pose(Position(x_right / 2, y_down))))
self.add_condition(obs_right.id, 0, 1,
partial(self.condition, obs_right))
self.add_condition(obs_right.id, 1, 0,
partial(self.condition, obs_right))
for i in range(PLAYER_PER_TEAM):
if not (i == obs_right.id or i == obs_left.id or i == indiana.id):
self.add_tactic(i, Stop(self.game_state, i))
def setUp(self):
self.game_state = GameState()
self.game_state._update_player(0, Pose(Position(-4450, 0), 0))
self.tactic1 = GoalKeeper(self.game_state, 0)
self.tactic2 = Stop(self.game_state, 1)
self.node1 = Node(self.tactic1)
self.node2 = Node(self.tactic2)
self.vertex1 = Vertex(0, foo)
self.vertex2 = Vertex(1, foo2)
def setUp(self):
self.game_state = GameState()
self.empty_graph = Graph()
self.graph1 = Graph()
self.tactic1 = Stop(self.game_state, 1)
self.tactic2 = GoToPosition(self.game_state, 0,
Pose(Position(500, 0), 0))
self.node1 = Node(self.tactic1)
self.node2 = Node(self.tactic2)
self.vertex1 = Vertex(1, foo)
self.graph1.add_node(self.node1)
self.graph1.add_node(self.node2)
self.graph1.add_vertex(0, 1, foo)
def __init__(self, p_game_state):
super().__init__(p_game_state)
# TODO: modification en temps reel de la position de la balle
self.designated_robot = 0
self.position_to_shoot_to = Position(0, 0)
self.origin = self.game_state.get_ball_position()
tactic = RotateAround(self.game_state, self.designated_robot,
self.origin, self.position_to_shoot_to)
self.add_tactic(self.designated_robot, tactic)
# le reste des robots sont a l'arret
for robot_to_stop in range(0, 6):
if robot_to_stop != self.designated_robot:
self.add_tactic(robot_to_stop,
Stop(self.game_state, robot_to_stop))
def setUp(self):
config_service = ConfigService().load_file("config/sim_standard.cfg")
self.game_state = GameState()
self.game = Game()
self.game.set_referee(Referee())
self.game.ball = Ball()
game_world = ReferenceTransferObject(self.game)
game_world.set_team_color_svc(TeamColorService(TeamColor.YELLOW_TEAM))
self.game_state.set_reference(game_world)
self.game_state.game.friends.players[0].update(
Pose(Position(-4450, 0), 0))
self.tactic1 = GoalKeeper(self.game_state, 0)
self.tactic2 = Stop(self.game_state, 1)
self.node1 = Node(self.tactic1)
self.node2 = Node(self.tactic2)
self.vertex1 = Vertex(0, foo)
self.vertex2 = Vertex(1, foo2)
def __init__(self, p_game_state):
super().__init__(p_game_state)
robot1 = self.game_state.my_team.available_players[4]
robot2 = self.game_state.my_team.available_players[2]
robot3 = self.game_state.my_team.available_players[3]
self.add_tactic(robot1.id, DemoFollowBall(self.game_state, robot1))
self.add_tactic(
robot2.id,
DemoFollowRobot(self.game_state, robot2, args=[robot1.id]))
self.add_tactic(
robot3.id,
DemoFollowRobot(self.game_state, robot3, args=[robot2.id]))
for player in self.game_state.my_team.available_players.values():
if not (player.id == robot1.id or player.id == robot2.id
or player.id == robot3.id):
self.add_tactic(player.id, Stop(self.game_state, player))
def setUp(self):
config_service = ConfigService().load_file("config/sim_standard.cfg")
self.game_state = GameState()
self.game = Game()
self.game.set_referee(Referee())
self.game.ball = Ball()
game_world = ReferenceTransferObject(self.game)
game_world.set_team_color_svc(TeamColorService(TeamColor.YELLOW_TEAM))
self.game_state.set_reference(game_world)
self.game_state = GameState()
self.empty_graph = Graph()
self.graph1 = Graph()
self.tactic1 = Stop(self.game_state, 1)
self.tactic2 = GoToPositionNoPathfinder(self.game_state, 0,
Pose(Position(500, 0), 0))
self.node1 = Node(self.tactic1)
self.node2 = Node(self.tactic2)
self.vertex1 = Vertex(1, foo)
self.graph1.add_node(self.node1)
self.graph1.add_node(self.node2)
self.graph1.add_vertex(0, 1, foo)
def __init__(self, p_game_state):
super().__init__(p_game_state)
self.add_tactic(0, GoalKeeper(self.game_state, 0))
self.add_tactic(
1, GoStraightTo(self.game_state, 1, Pose(Position(), 3 * pi / 2)))
self.add_tactic(
1, GoStraightTo(self.game_state, 1, Pose(Position(1000, 0), 0)))
self.add_tactic(
1,
GoStraightTo(self.game_state, 1, Pose(Position(1000, 1000),
pi / 2)))
self.add_tactic(
1, GoStraightTo(self.game_state, 1, Pose(Position(0, 1000), pi)))
self.add_condition(1, 0, 1, self.condition)
self.add_condition(1, 1, 2, self.condition)
self.add_condition(1, 2, 3, self.condition)
self.add_condition(1, 3, 0, self.condition)
for i in range(2, PLAYER_PER_TEAM):
self.add_tactic(i, Stop(self.game_state, i))
def __init__(self, game_state):
super().__init__(game_state)
self.passer_id = 1
self.passer_position = self.game_state.get_player_pose(
self.passer_id).position
self.receiver_id = 2
self.receiver_pose = self.game_state.get_player_pose(self.receiver_id)
self.ball_position = self.game_state.get_ball_position()
self.add_tactic(0, GoalKeeper(self.game_state, 0))
self.add_tactic(
self.passer_id,
GoGetBall(self.game_state, self.passer_id, self.receiver_pose,
None))
self.add_tactic(
self.passer_id,
RotateAround(self.game_state, self.passer_id, self.ball_position,
self.receiver_pose.position))
self.add_tactic(
self.passer_id,
PassBall(self.game_state, self.passer_id, self.receiver_pose,
None))
self.add_condition(self.passer_id, 0, 1, self.passer_has_ball)
self.add_condition(self.passer_id, 1, 2, self.ready_to_pass)
self.add_condition(self.passer_id, 2, 0, self.pass_failed)
p = Pose(self.receiver_pose.position,
get_angle(self.receiver_pose.position, self.ball_position))
self.add_tactic(
self.receiver_id,
GoToPositionNoPathfinder(self.game_state, self.receiver_id, p))
self.add_tactic(self.receiver_id,
ReceivePass(self.game_state, self.receiver_id, p))
self.add_condition(self.receiver_id, 0, 1, self.pass_was_made)
for i in range(3, PLAYER_PER_TEAM):
self.add_tactic(i, Stop(self.game_state, i))
def __init__(self, p_game_state):
super().__init__(p_game_state)
for player in self.game_state.my_team.available_players.values():
self.add_tactic(player.id, Stop(self.game_state, player))
def __init__(self, p_game_state):
super().__init__(p_game_state)
for i in range(PLAYER_PER_TEAM):
self.add_tactic(i, Stop(self.game_state, i))
def __init__(self, p_game_state):
super().__init__(p_game_state)
# Robot 0
self.add_tactic(
0,
GoToPositionPathfinder(self.game_state, 0,
Pose(Position(-1500, 1500))))
self.add_tactic(
0,
GoToPositionPathfinder(self.game_state, 0,
Pose(Position(1500, 1500))))
self.add_tactic(
0,
GoToPositionPathfinder(self.game_state, 0,
Pose(Position(1500, -1500))))
self.add_tactic(
0,
GoToPositionPathfinder(self.game_state, 0,
Pose(Position(-1500, -1500))))
self.add_condition(0, 0, 1, self.condition0)
self.add_condition(0, 1, 2, self.condition0)
self.add_condition(0, 2, 3, self.condition0)
self.add_condition(0, 3, 1, self.condition0)
# Robot 1
self.add_tactic(
1,
GoToPositionPathfinder(self.game_state, 0,
Pose(Position(2000, -2000))))
self.add_tactic(
1,
GoToPositionPathfinder(self.game_state, 0,
Pose(Position(-2000, 2000))))
self.add_tactic(
1,
GoToPositionPathfinder(self.game_state, 0,
Pose(Position(2000, 2000))))
self.add_tactic(
1,
GoToPositionPathfinder(self.game_state, 0,
Pose(Position(-2000, -2000))))
self.add_condition(1, 0, 1, self.condition1)
self.add_condition(1, 1, 2, self.condition1)
self.add_condition(1, 2, 3, self.condition1)
self.add_condition(1, 3, 1, self.condition1)
# Robot 2
self.add_tactic(
2,
GoToPositionPathfinder(self.game_state, 0, Pose(Position(0,
2100))))
self.add_tactic(
2,
GoToPositionPathfinder(self.game_state, 0, Pose(Position(0,
2100))))
self.add_condition(2, 0, 1, self.condition2)
self.add_condition(2, 1, 0, self.condition2)
# Robot 3
self.add_tactic(
3,
GoToPositionPathfinder(self.game_state, 0, Pose(Position(2100,
0))))
self.add_tactic(
3,
GoToPositionPathfinder(self.game_state, 0, Pose(Position(-2100,
0))))
self.add_condition(3, 0, 1, self.condition3)
self.add_condition(3, 1, 0, self.condition3)
self.add_tactic(4, Stop(self.game_state, 4))
self.add_tactic(5, Stop(self.game_state, 5))
def __init__(self, p_game_state):
super().__init__(p_game_state)
robot1 = 4
robot2 = 2
robot3 = 3
self.tactic_conditions = [False for i in range(PLAYER_PER_TEAM)]
dist_inter_robot = 300
positions_on_xaxis = [
Pose(Position(-dist_inter_robot * 3, 0), 1.57),
Pose(Position(-dist_inter_robot * 2, 0), 1.57),
Pose(Position(-dist_inter_robot, 0), 1.57),
Pose(Position(dist_inter_robot, 0), 1.57),
Pose(Position(2 * dist_inter_robot, 0), 1.57),
Pose(Position(3 * dist_inter_robot, 0), 1.57)
]
shuffle(positions_on_xaxis)
positions_on_yaxis = [
Pose(Position(0, -dist_inter_robot * 3), 0),
Pose(Position(0, -dist_inter_robot * 2), 0),
Pose(Position(0, -dist_inter_robot), 0),
Pose(Position(0, dist_inter_robot), 0),
Pose(Position(0, 2 * dist_inter_robot), 0),
Pose(Position(0, 3 * dist_inter_robot), 0)
]
shuffle(positions_on_yaxis)
'''
for i in range(PLAYER_PER_TEAM):
self.add_tactic(i, GoToPositionPathfinder(self.game_state, i, positions_on_xaxis[i]))
self.add_tactic(i, GoToPositionPathfinder(self.game_state, i, positions_on_yaxis[i]))
self.add_condition(i, 0, 1, partial(self.condition, i))
self.add_condition(i, 1, 0, partial(self.condition, i))
'''
self.add_tactic(
robot1,
GoToPositionPathfinder(self.game_state, robot1,
positions_on_xaxis[robot1]))
self.add_tactic(
robot1,
GoToPositionPathfinder(self.game_state, robot1,
positions_on_yaxis[robot1]))
self.add_condition(robot1, 0, 1, partial(self.condition, robot1))
self.add_condition(robot1, 1, 0, partial(self.condition, robot1))
self.add_tactic(
robot2,
GoToPositionPathfinder(self.game_state, robot2,
positions_on_xaxis[robot2]))
self.add_tactic(
robot2,
GoToPositionPathfinder(self.game_state, robot2,
positions_on_yaxis[robot2]))
self.add_condition(robot2, 0, 1, partial(self.condition, robot2))
self.add_condition(robot2, 1, 0, partial(self.condition, robot2))
self.add_tactic(
robot3,
GoToPositionPathfinder(self.game_state, robot3,
positions_on_xaxis[robot3]))
self.add_tactic(
robot3,
GoToPositionPathfinder(self.game_state, robot3,
positions_on_yaxis[robot3]))
self.add_condition(robot3, 0, 1, partial(self.condition, robot3))
self.add_condition(robot3, 1, 0, partial(self.condition, robot3))
for i in range(PLAYER_PER_TEAM):
if not (i == robot1 or i == robot2 or i == robot3):
self.add_tactic(i, Stop(self.game_state, i))