def exec(self):
self.target_player = closest_player_to_point(
self.game_state.get_ball_position(), our_team=False).player
orientation_opponent = np.array([
math.cos(self.target_player.pose.orientation),
math.sin(self.target_player.pose.orientation)
])
destination_position = self.target_player.pose.position + self.distance * orientation_opponent
ball_to_player = self.game_state.get_ball_position(
) - self.player.pose.orientation
destination_orientation = ball_to_player.angle()
destination_pose = Pose(destination_position, destination_orientation)
if self.check_success():
self.status_flag = Flags.SUCCESS
else:
self.status_flag = Flags.WIP
return MoveToPosition(self.game_state,
self.player,
destination_pose,
pathfinder_on=True,
cruise_speed=self.cruise_speed,
collision_ball=self.collision_ball,
charge_kick=self.charge_kick,
end_speed=self.end_speed,
dribbler_on=self.dribbler_on).exec()
def protect_goal(self):
if not self.penalty_kick:
if not self._is_ball_too_far and \
self.player == closest_player_to_point(self.game_state.get_ball_position()).player and\
self._get_distance_from_ball() < ROBOT_RADIUS *3:
self.next_state = self.go_behind_ball
else:
self.next_state = self.protect_goal
return ProtectGoal(self.game_state,
self.player,
self.is_yellow,
minimum_distance=300,
maximum_distance=self.game_state.game.field.
constant["FIELD_GOAL_RADIUS"] / 2)
else:
our_goal = Position(
self.game_state.const["FIELD_OUR_GOAL_X_EXTERNAL"], 0)
opponent_kicker = player_with_ball(2 * ROBOT_RADIUS)
ball_position = self.game_state.get_ball_position()
if opponent_kicker is not None:
ball_to_goal = our_goal.x - ball_position.x
if self.game_state.field.our_side is FieldSide.POSITIVE:
opponent_kicker_orientation = clamp(
opponent_kicker.pose.orientation, -pi / 5, pi / 5)
goalkeeper_orientation = wrap_to_pi(
opponent_kicker_orientation - pi)
else:
opponent_kicker_orientation = clamp(
wrap_to_pi(opponent_kicker.pose.orientation - pi),
-pi / 5, pi / 5)
goalkeeper_orientation = opponent_kicker_orientation
y_position_on_line = ball_to_goal * tan(
opponent_kicker_orientation)
width = self.game_state.const["FIELD_GOAL_WIDTH"]
y_position_on_line = clamp(y_position_on_line, -width, width)
destination = Pose(our_goal.x, y_position_on_line,
goalkeeper_orientation)
else:
destination = Pose(our_goal)
return MoveToPosition(self.game_state,
self.player,
destination,
pathfinder_on=True,
cruise_speed=2)
def main_state(self):
target_player = closest_player_to_point(self.game_state.ball_position, our_team=False).player
orientation_opponent = np.array([math.cos(target_player.pose.orientation),
math.sin(target_player.pose.orientation)])
destination_position = target_player.pose.position + self.distance * orientation_opponent
ball_to_player = self.game_state.ball_position - self.player.pose.orientation
destination_orientation = ball_to_player.angle
if self.check_success():
self.status_flag = Flags.SUCCESS
else:
self.status_flag = Flags.WIP
return CmdBuilder().addMoveTo(Pose(destination_position, destination_orientation),
cruise_speed=self.cruise_speed,
ball_collision=self.ball_collision,
end_speed=self.end_speed).addChargeKicker().addForceDribbler().build()
def main_state(self):
target_player = closest_player_to_point(self.game_state.ball_position,
our_team=False).player
orientation_opponent = np.array([
math.cos(target_player.pose.orientation),
math.sin(target_player.pose.orientation)
])
destination_position = target_player.pose.position + self.distance * orientation_opponent
ball_to_player = self.game_state.ball_position - self.player.pose.orientation
destination_orientation = ball_to_player.angle
if self.check_success():
self.status_flag = Flags.SUCCESS
else:
self.status_flag = Flags.WIP
return CmdBuilder().addMoveTo(
Pose(destination_position, destination_orientation),
cruise_speed=self.cruise_speed,
ball_collision=self.ball_collision,
end_speed=self.end_speed).addChargeKicker().addForceDribbler(
).build()
def is_not_closest(self, player):
return player != closest_player_to_point(
GameState().get_ball_position(), True).player
def is_closest(self, player):
return player == closest_player_to_point(
GameState().get_ball_position(), True, robots=self.robots).player