def __init__(self):
super(PlayOurPrePenalty, self).__init__('PlayOurPrePenalty')
self.applicable = "OUR_PRE_PENALTY"
self.done_aborted = "OUR_PRE_PENALTY"
keep_x = -constants.FieldHalfX + constants.RobotRadius * 2.0
self.roles[0].loop_enable = True
self.roles[0].behavior.add_child(
TacticGoalie('TacticGoalie', self.roles[0].my_role, keep_x=keep_x,
range_high = constants.GoalHalfSize,
range_low = -constants.GoalHalfSize)
)
self.roles[1].loop_enable = True
self.roles[1].behavior.add_child(
TacticInterpose('TacticInterpose', self.roles[1].my_role,
from_dist = 0.2)
)
for i in range(2,6):
x = -3.0 + 0.3*i
y = 2.0
theta = -math.pi * 0.5
self.roles[i].loop_enable = True
self.roles[i].behavior.add_child(
TacticPosition('TacticPosition', self.roles[i].my_role,
x, y ,theta))
def __init__(self):
super(PlayTheirPenaltyStart, self).__init__('PlayTheirPenaltyStart')
self.applicable = "THEIR_PENALTY_START"
self.done_aborted = "THEIR_PENALTY_START"
pose_x = -constants.FieldHalfX + 0.05
pose_y = constants.GoalHalfSize - constants.RobotRadius
pose1 = Pose(pose_x, pose_y, 0)
pose2 = Pose(pose_x, -pose_y, 0)
self.roles[0].loop_enable = True
self.roles[0].behavior.add_child(
TacticLookIntersection('TacticLookIntersection',
self.roles[0].my_role, target='Threat_0',
pose1 = pose1, pose2= pose2)
)
for i in range(1,6):
x = -3.0 + 0.3*i
y = 2.0
theta = -math.pi * 0.5
self.roles[i].loop_enable = True
self.roles[i].behavior.add_child(
TacticPosition('TacticPosition', self.roles[i].my_role,
x, y ,theta))
def __init__(self):
super(PlayTheirPreKickoff, self).__init__('PlayTheirPreKickoff')
self.applicable = "THEIR_PRE_KICKOFF"
self.done_aborted = "THEIR_PRE_KICKOFF"
keep_x = -constants.FieldHalfX + constants.RobotRadius * 2.0
self.roles[0].loop_enable = True
self.roles[0].behavior.add_child(
TacticGoalie('TacticGoalie',
self.roles[0].my_role,
keep_x=keep_x,
range_high=constants.GoalHalfSize,
range_low=-constants.GoalHalfSize))
self.roles[1].loop_enable = True
self.roles[1].behavior.add_child(
TacticInterpose('TacticInterpose',
self.roles[1].my_role,
from_dist=0.5))
for i in range(2, 6):
x = -3.0
y = 0.45 - 0.3 * (i - 2)
theta = 0
self.roles[i].loop_enable = True
self.roles[i].behavior.add_child(
TacticPosition('TacticPosition', self.roles[i].my_role, x, y,
theta))
def __init__(self):
super(Test1, self).__init__('Test1')
self.applicable = "TEST1"
self.done_aborted = "TEST1"
self.assignment_type = "CLOSEST_BALL"
self.roles[0].loop_enable = True
self.roles[0].behavior.add_child(
TacticHalt('TacticHalt', self.roles[0].my_role))
self.roles[1].loop_enable = True
self.roles[1].behavior.add_child(
TacticPosition('TacticPosition1', self.roles[1].my_role, 0.0, 2.0,
math.pi * 0.5))
self.roles[1].behavior.add_child(
TacticPosition('TacticPosition2', self.roles[1].my_role, 0.0, -2.0,
math.pi * 0.5))
for i in range(2, 6):
self.roles[i].loop_enable = True
self.roles[i].behavior.add_child(
TacticHalt("TacticHalt", self.roles[i].my_role))
def __init__(self):
super(PlayInPlayOurDefence, self).__init__('PlayInPlayOurDefence')
self.applicable = "BALL_IN_OUR_DEFENCE"
self.done_aborted = "BALL_IN_OUR_DEFENCE"
self.roles[0].loop_enable = True
self.roles[0].behavior.add_child(
TacticClear('TacticClear', self.roles[0].my_role))
self.roles[1].loop_enable = True
self.roles[1].behavior.add_child(
TacticPosition('TacticPosition', self.roles[1].my_role, 0, 0, 0))
self.roles[2].loop_enable = True
self.roles[2].behavior.add_child(
TacticInterpose('TacticInterpose',
self.roles[2].my_role,
to_dist=1.5))
range_y = constants.FieldHalfY - 0.7
self.roles[3].loop_enable = True
self.roles[3].behavior.add_child(
TacticKeep('TacticKeep',
self.roles[3].my_role,
keep_x=-2.0,
range_high=range_y,
range_low=0.5))
self.roles[4].loop_enable = True
self.roles[4].behavior.add_child(
TacticKeep('TacticKeep',
self.roles[4].my_role,
keep_x=-2.0,
range_high=-0.5,
range_low=-range_y))
pose1 = Pose(-2.5, range_y, 0)
pose2 = Pose(-2.5, -range_y, 0)
self.roles[5].loop_enable = True
self.roles[5].behavior.add_child(
TacticIntersection('TacticIntersection',
self.roles[5].my_role,
pose1=pose1,
pose2=pose2))