def _update_field_const(self):
self.our_goal = Position(self.our_goal_x, 0)
self.our_goal_pose = Pose(self.our_goal, 0)
self.their_goal = Position(self.their_goal_x, 0)
self.their_goal_pose = Pose(self.their_goal, 0)
p1 = self.field_lines["RightPenaltyStretch"].p1
p2 = self.field_lines["RightPenaltyStretch"].p2
p3 = self.field_lines["RightFieldLeftPenaltyStretch"].p1
p4 = self.field_lines["RightFieldLeftPenaltyStretch"].p2
self.our_goal_area = Area.from_4_point(p1, p2, p3, p4)
self.their_goal_area = Area.flip_x(self.our_goal_area)
self.goal_line = Line(p1=Position(self.our_goal_x, +self.goal_width / 2),
p2=Position(self.our_goal_x, -self.goal_width / 2))
self.our_goal_line = Line(p1=Position(self.our_goal_x, +self.goal_width / 2),
p2=Position(self.our_goal_x, -self.goal_width / 2))
self.their_goal_line = Line(p1=Position(self.their_goal_x, +self.goal_width / 2),
p2=Position(self.their_goal_x, -self.goal_width / 2))
self.behind_our_goal_line = Area.from_limits(self.our_goal_area.top,
self.our_goal_area.bottom,
self.our_goal_area.right + 50 * self.goal_depth,
self.our_goal_area.left)
self.behind_their_goal_line = Area.flip_x(self.behind_our_goal_line)
self.free_kick_avoid_area = Area.pad(self.their_goal_area,
INDIRECT_KICK_OFFSET + KEEPOUT_DISTANCE_FROM_GOAL)
self.our_goal_forbidden_area = Area.pad(self.our_goal_area, KEEPOUT_DISTANCE_FROM_GOAL)
self.their_goal_forbidden_area = Area.pad(self.their_goal_area, KEEPOUT_DISTANCE_FROM_GOAL)
self.center = Position(0, 0)
def __init__(self, game_state: GameState, player: Player, target: Optional[Pose]=None,
args: Optional[List[Any]]=None, forbidden_areas: Optional[List[Area]]=None):
self.logger = logging.getLogger(self.__class__.__name__)
assert isinstance(player, Player), "Le player doit être un Player, non un '{}'".format(player)
assert target is None or isinstance(target, Pose), "La target devrait être une Pose"
self.game_state = game_state
self.player = player
self.player_id = player.id
if args is None:
self.args = []
else:
self.args = args
self.current_state = self.halt
self.next_state = self.halt
self.status_flag = Flags.INIT
self.target = target
if forbidden_areas is None:
field = self.game_state.field
# Those limits are for ulaval local only
areas = field.border_limits
areas += [
self.field.behind_our_goal_line,
self.field.behind_their_goal_line]
#areas = []
self.forbidden_areas = [Area.pad(area, KEEPOUT_DISTANCE_FROM_GOAL) for area in areas]
self.forbidden_areas += [self.game_state.field.their_goal_forbidden_area,
self.game_state.field.our_goal_forbidden_area]
else:
self.forbidden_areas = forbidden_areas
def __init__(
self,
game_state: GameState,
player: Player,
target: Pose = Pose(),
penalty_kick=False,
args: List[str] = None,
):
forbidden_area = [
Area.pad(game_state.field.their_goal_area,
KEEPOUT_DISTANCE_FROM_GOAL)
]
super().__init__(game_state,
player,
target,
args,
forbidden_areas=forbidden_area)
self.current_state = self.defense
self.next_state = self.defense
self.target = Pose(
self.game_state.field.our_goal,
np.pi) # Ignore target argument, always go for our goal
self.go_kick_tactic = None # Used by clear
self.last_intersection = None # For debug
self.OFFSET_FROM_GOAL_LINE = Position(ROBOT_RADIUS + 10, 0)
self.GOAL_LINE = self.game_state.field.our_goal_line
def _update_field_const(self):
self.our_goal = Position(self.our_goal_x, 0)
self.our_goal_pose = Pose(self.our_goal, 0)
self.their_goal = Position(self.their_goal_x, 0)
self.their_goal_pose = Pose(self.their_goal, 0)
p1 = self.field_lines["RightPenaltyStretch"].p1
p2 = self.field_lines["RightPenaltyStretch"].p2
p3 = self.field_lines["RightFieldLeftPenaltyStretch"].p1
p4 = self.field_lines["RightFieldLeftPenaltyStretch"].p2
self.our_goal_area = Area.from_4_point(p1, p2, p3, p4)
self.their_goal_area = Area.flip_x(self.our_goal_area)
self.goal_line = Line(p1=Position(self.our_goal_x,
+self.goal_width / 2),
p2=Position(self.our_goal_x,
-self.goal_width / 2))
self.our_goal_line = Line(p1=Position(self.our_goal_x,
+self.goal_width / 2),
p2=Position(self.our_goal_x,
-self.goal_width / 2))
self.their_goal_line = Line(p1=Position(self.their_goal_x,
+self.goal_width / 2),
p2=Position(self.their_goal_x,
-self.goal_width / 2))
self.behind_our_goal_line = Area.from_limits(
self.our_goal_area.top, self.our_goal_area.bottom,
self.our_goal_area.right + 50 * self.goal_depth,
self.our_goal_area.left)
self.behind_their_goal_line = Area.flip_x(self.behind_our_goal_line)
self.free_kick_avoid_area = Area.pad(
self.their_goal_area,
INDIRECT_KICK_OFFSET + KEEPOUT_DISTANCE_FROM_GOAL)
self.our_goal_forbidden_area = Area.pad(self.our_goal_area,
KEEPOUT_DISTANCE_FROM_GOAL)
self.their_goal_forbidden_area = Area.pad(self.their_goal_area,
KEEPOUT_DISTANCE_FROM_GOAL)
self.center = Position(0, 0)
def __init__(self, game_state: GameState, player: Player, target: Pose=Pose(),
penalty_kick=False, args: List[str]=None,):
forbidden_area = [Area.pad(game_state.field.their_goal_area, KEEPOUT_DISTANCE_FROM_GOAL)]
super().__init__(game_state, player, target, args, forbidden_areas=forbidden_area)
self.current_state = self.defense
self.next_state = self.defense
self.target = Pose(self.game_state.field.our_goal, np.pi) # Ignore target argument, always go for our goal
self.go_kick_tactic = None # Used by clear
self.last_intersection = None # For debug
self.OFFSET_FROM_GOAL_LINE = Position(ROBOT_RADIUS + 10, 0)
self.GOAL_LINE = self.game_state.field.our_goal_line
def __init__(self,
game_state: GameState,
player: Player,
target: Optional[Pose] = None,
args: Optional[List[Any]] = None,
forbidden_areas: Optional[List[Area]] = None):
self.logger = logging.getLogger(self.__class__.__name__)
assert isinstance(
player,
Player), "Le player doit être un Player, non un '{}'".format(
player)
assert target is None or isinstance(
target, Pose), "La target devrait être une Pose"
self.game_state = game_state
self.player = player
self.player_id = player.id
if args is None:
self.args = []
else:
self.args = args
self.current_state = self.halt
self.next_state = self.halt
self.status_flag = Flags.INIT
self.target = target
if forbidden_areas is None:
field = self.game_state.field
# Those limits are for ulaval local only
areas = field.border_limits
areas += [
self.field.behind_our_goal_line,
self.field.behind_their_goal_line
]
#areas = []
self.forbidden_areas = [
Area.pad(area, KEEPOUT_DISTANCE_FROM_GOAL) for area in areas
]
self.forbidden_areas += [
self.game_state.field.their_goal_forbidden_area,
self.game_state.field.our_goal_forbidden_area
]
else:
self.forbidden_areas = forbidden_areas