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, num1, num2):
super(PassAndPass, self).__init__(name)
wait1X, wait1Y, wait1Yaw = (-2.0, 2.0, -math.pi*0.5)
wait2X, wait2Y, wait2Yaw = (-2.0, -2.0, math.pi*0.5)
PLAYER1 = Sequence("player1")
wait_ = ParallelOne("wait1")
wait_.add_child(Analyst.BallEnteringQuadrant("ballEntering",2))
wait_.add_child(BaseSkill.Stay("stay1", num1, wait1X, wait1Y, wait1Yaw))
pass_ = ParallelOne("pass1")
pass_.add_child(Kick.SetPassTarget("setTarget1",num1, num2))
pass_.add_child(Kick.Pass("GoPassing1", num1))
pass_.add_child(Analyst.BallEnteringQuadrant("ballEntering",3))
PLAYER1.add_child(wait_)
PLAYER1.add_child(pass_)
PLAYER1.add_child(GoToPosition("goto1",num1,wait1X,wait1Y,wait1Yaw))
self.add_child(PLAYER1)
PLAYER2 = Sequence("player2")
wait_ = ParallelOne("wait2")
wait_.add_child(Analyst.BallEnteringQuadrant("ballEntering",3))
wait_.add_child(BaseSkill.Stay("stay2", num2, wait2X, wait2Y, wait2Yaw))
pass_ = ParallelOne("pass2")
pass_.add_child(Kick.SetPassTarget("setTarget2",num2, num1))
pass_.add_child(Kick.Pass("GoPassing2", num2))
pass_.add_child(Analyst.BallEnteringQuadrant("ballEntering",2))
PLAYER2.add_child(wait_)
PLAYER2.add_child(pass_)
PLAYER2.add_child(GoToPosition("goto2",num2,wait2X,wait2Y,wait2Yaw))
self.add_child(PLAYER2)