# @Author: Yusu Pan <yuthon> # @Date: 2017-07-25T11:06:47+08:00 # @Email: [email protected] # @Project: humanoid # @Filename: AvoidObstacleTest.py # @Last modified by: yuthon # @Last modified time: 2017-07-25T11:06:48+08:00 # @Copyright: ZJUDancer from skills.AvoidObstacle import AvoidObstacle from skills.Attack import Attack from DecisionMaking.BehaviorTree.Branch import sequence, selector, parallel AvoidObstacleTest = selector(AvoidObstacle, Attack)
from DecisionMaking.BehaviorTree.Branch import parallel
from DecisionMaking.BehaviorTree.Branch import selector
from headskills.LookAround import LookAround
from skills.WalkAroundPenalty import WalkAroundPenalty
from skills.SeekBall import SeekBall
from skills.FindBallAroundOnce import FindBallAroundOnce
SeekBall_Fuck = selector(FindBallAroundOnce,
parallel(LookAround, WalkAroundPenalty))
from DecisionMaking.BehaviorTree.Branch import selector from headskills.FindBall import FindBall from headskills.LookAround import LookAround from skills.TurnAround import TurnAround SeekBall = selector(FindBall, TurnAround)
from DecisionMaking.BehaviorTree.Branch import sequence, selector
from DecisionMaking.BehaviorTree.Task import Action
from skills.ApproachBall import ApproachBall
from skills.Dribble import Dribble
from skills.Kick import Kick
from skills.SeekBall import SeekBall
from skills.FindBallAroundOnce import FindBallAroundOnce
from skills.SeekBall_Fuck import SeekBall_Fuck
from skills.GoToGoaliePoint import GoToGoaliePoint
from headskills.GoalieScanField import GoalieScanField
from headskills.IsBallFarAway import IsBallFarAway
GoalieAttack = sequence(FindBallAroundOnce, ApproachBall,
selector(Dribble, Kick))
# def got_dest(self, dest):
# robot_pos = self.bb.robot_pos
# angle = self.bb.field_angle
# dangle = abs_angle_diff(dest.z - angle)
#
# diff_x = dest.x - robot_pos.x
# diff_y = dest.y - robot_pos.y
#
# if not self.bb.enable_kick:
# if self.bb.ball_field.y > 0:
# if abs(diff_x) < DEST_REGION and -DEST_REGION < diff_y < DEST_REGION / 3 and abs(dangle) < DEST_RE_ANGLE:
# return True
# else:
# return False
# else:
# if abs(diff_x) < DEST_REGION and -DEST_REGION / 3 < diff_y < DEST_REGION and abs(dangle) < DEST_RE_ANGLE:
# return True
# else:
# return False
# elif self.bb.enable_kick:
# if abs(diff_x) < 5 and abs(diff_y) < 5 and abs(dangle) < 5:
# return True
# else:
# return False
# else:
# return False
ApproachBall = parallel(selector(_Approach, WalkBehindBall), TrackBall)