def __init__(self, name, passerNo, shooterNo):
super(PassShoot, self).__init__(name)
# 1 passerがボールに近づく
FIRST = ParallelOne("FIRST")
FIRST.add_child(
Kick.SetPassTarget("Set pass target", passerNo, shooterNo))
FIRST.add_child(Kick.Approach("Passer approach", passerNo))
FIRST.add_child(BaseSkill.SuccessTimer("SuccessTimer1.0", 1.0))
self.add_child(FIRST)
# 2 shooterがshoot位置に移動する
SECOND = ParallelOne("SECOND")
SECOND.add_child(BaseSkill.WaitToReceive("Shooter wait", shooterNo))
SECOND.add_child(
Analyst.IsOnTarget("Shooter is on target", shooterNo, 0.5))
SECOND.add_child(BaseSkill.SuccessTimer("SuccessTimer2.0", 3.0))
self.add_child(SECOND)
#
# 3 passerがボールを蹴る
THIRD = ParallelAll("THIRD")
THIRD.add_child(
Kick.SetPassTarget("Set pass target", passerNo, shooterNo))
THIRD.add_child(Kick.Pass("PASS", passerNo))
# 3 shooterが受け取りshootする
THIRD.add_child(Kick.CalcuKickTarget("CalcuKickTarget", shooterNo))
THIRD.add_child(Kick.ReceiveShoot("ReceiveShoot", shooterNo))
THIRD.add_child(BaseSkill.FailureTimer("FailureTimer7.0", 10.0))
INVERT = Invert("Invert")
INVERT.add_child(Analyst.IsBaller("IsBaller", shooterNo, 1.0))
THIRD.add_child(INVERT)
self.add_child(THIRD)
def __init__(self, name):
super(IndirectAction, self).__init__(name)
limitTime = 30.0
# limitTime = 7.0
timerName = "SuccessTimer" + str(limitTime)
TIMER = BaseSkill.SuccessTimer(timerName, limitTime)
ACTION_SELECTOR = Selector("ACTION_SELECTOR")
DO_PASS_SHOOT = Sequence("DO_PASS_SHOOT")
DO_PASS_SHOOT.add_child(Analyst.BallIsEnemySide("BallIsEnemySide"))
DO_PASS_SHOOT.add_child(Analyst.ThereAreThreeRobots("ThreeRobots"))
DO_PASS_SHOOT.add_child(ComboSkill.PassShoot("PassShoot", 2, 1))
ACTION_SELECTOR.add_child(DO_PASS_SHOOT)
DO_SHOOT = ParallelOne("DO_SHOOT")
DO_SHOOT.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 1))
DO_SHOOT.add_child(Kick.SetplayShoot("Shoot", 1))
DO_SHOOT.add_child(Defender.Defense("DefenderDefense", 2))
ACTION_SELECTOR.add_child(DO_SHOOT)
self.add_child(TIMER)
self.add_child(ACTION_SELECTOR)
self.add_child(GoalKeeper.Defense("GoalKeeperDefense", 0))
def __init__(self, name, number):
super(UltimateOffense, self).__init__(name)
SHOOT_PARA = ParallelOne("SHOOT_PARA")
SHOOT_PARA.add_child(Kick.CalcuKickTarget("calcu", number))
SHOOT_PARA.add_child(Kick.Shoot("shoot", number))
self.add_child(SHOOT_PARA)
def __init__(self, name):
super(ExeNormal_Pre, self).__init__(name)
self.add_child(Analyst.ThereAreRobots("ThereAreRobots"))
self.add_child(GoalKeeper.StopGame("GoalKeeperStop", 0))
self.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 1))
self.add_child(Kick.Approach("Approach", 1))
self.add_child(Defender.StopGame("DefenderStop", 2))
def __init__(self, name):
super(OneRobotDirectAction, self).__init__(name)
limitTime = 7.0
# limitTime = 12.0
timerName = "SuccessTimer" + str(limitTime)
TIMER = BaseSkill.SuccessTimer(timerName, limitTime)
self.add_child(TIMER)
self.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0))
self.add_child(Kick.SetplayShoot("Shoot", 0))
def __init__(self, name):
super(Execute, self).__init__(name)
EXE_SELECTOR = Selector("EXE_SELECTOR")
ONE_ROBOT = ParallelAll("ONE_ROBOT")
ONE_ROBOT.add_child(Analyst.ThereIsOnlyOneRobot("ThereIsOneRobot"))
ONE_ROBOT.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0))
ONE_ROBOT.add_child(Kick.SetplayShoot("Shoot", 0))
EXE_SELECTOR.add_child(ONE_ROBOT)
SOME_ROBOTS = ParallelAll("SOME_ROBOTS")
SOME_ROBOTS.add_child(Analyst.ThereAreRobots("ThereAreRobots"))
SOME_ROBOTS.add_child(GoalKeeper.StopGame("GoalKeeperStop", 0))
SOME_ROBOTS.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 1))
SOME_ROBOTS.add_child(Kick.SetplayShoot("Shoot", 1))
SOME_ROBOTS.add_child(Defender.StopGame("DefenderStop", 2))
EXE_SELECTOR.add_child(SOME_ROBOTS)
self.add_child(IsNORMAL_START("IsNORMAL_START"))
self.add_child(EXE_SELECTOR)
def __init__(self, name):
super(Prepare, self).__init__(name)
EXE_SELECTOR = Selector("EXE_SELECTOR")
ONE_ROBOT = ParallelAll("ONE_ROBOT")
ONE_ROBOT.add_child(Analyst.ThereIsOnlyOneRobot("ThereIsOneRobot"))
ONE_ROBOT.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0))
ONE_ROBOT.add_child(Kick.Approach("Approach", 0))
EXE_SELECTOR.add_child(ONE_ROBOT)
SOME_ROBOTS = ParallelAll("SOME_ROBOTS")
SOME_ROBOTS.add_child(Analyst.ThereAreRobots("ThereAreRobots"))
SOME_ROBOTS.add_child(GoalKeeper.StopGame("GoalKeeperStop", 0))
SOME_ROBOTS.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 1))
SOME_ROBOTS.add_child(Kick.Approach("Approach", 1))
SOME_ROBOTS.add_child(Defender.StopGame("DefenderStop", 2))
EXE_SELECTOR.add_child(SOME_ROBOTS)
self.add_child(IsPENALTY_FRIEND("IsPENALTY_FRIEND"))
self.add_child(EXE_SELECTOR)
def __init__(self, name):
super(OneRobotIndirectAction, self).__init__(name)
# limitTime = 12.0
limitTime = 7.0
timerName = "SuccessTimer" + str(limitTime)
TIMER = BaseSkill.SuccessTimer(timerName, limitTime)
DO_SHOOT = ParallelOne("DO_SHOOT")
DO_SHOOT.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0))
DO_SHOOT.add_child(Kick.SetplayShoot("Shoot", 0))
self.add_child(TIMER)
self.add_child(DO_SHOOT)
def __init__(self, name):
super(DirectAction, self).__init__(name)
limitTime = 7.0
# limitTime = 12.0
timerName = "SuccessTimer" + str(limitTime)
TIMER = BaseSkill.SuccessTimer(timerName, limitTime)
CALCU = Kick.CalcuKickTarget("CalcuKickTarget", 1)
SHOOT = Kick.SetplayShoot("Shoot", 1)
self.add_child(TIMER)
self.add_child(CALCU)
self.add_child(SHOOT)
self.add_child(GoalKeeper.Defense("GoalKeeperDefense", 0))
self.add_child(Defender.Defense("DefenderDefense", 2))
def __init__(self, name):
super(Execute, self).__init__(name)
IS_NORMAL_START = IsNORMAL_START('is_normal_start')
INPLAY_SWITCH = Sequence("INPLAY_SWITCH")
EXE_DEFEND = ParallelOne("EXE_DEFEND")
EXE_DEFEND.add_child(Analyst.BallMoved("BallMoved"))
EXE_DEFEND.add_child(GoalKeeper.PenaltyDefense("PenaltyDefense", 0))
EXE_DEFEND.add_child(BaseSkill.WaitPenaltyShoot("Wait1", 1))
EXE_DEFEND.add_child(BaseSkill.WaitPenaltyShoot("Wait2", 2))
INPLAY_SWITCH.add_child(EXE_DEFEND)
EXE_SHOOT = ParallelAll("EXE_SHOOT")
EXE_SHOOT.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0))
EXE_SHOOT.add_child(Kick.Shoot("Shoot", 0))
EXE_SHOOT.add_child(BaseSkill.WaitPenaltyShoot("Wait1", 1))
EXE_SHOOT.add_child(BaseSkill.WaitPenaltyShoot("Wait2", 2))
INPLAY_SWITCH.add_child(EXE_SHOOT)
self.add_child(IS_NORMAL_START)
self.add_child(INPLAY_SWITCH)
def __init__(self, name):
super(ExeOneRobot_Pre, self).__init__(name)
self.add_child(Analyst.ThereIsOnlyOneRobot("ThereIsOneRobot"))
self.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0))
self.add_child(Kick.Approach("Approach", 0))