def condition(self):
dst = self.get_bb().init_pos
robot_pos = VecPos.from_vector3(self.get_bb().vision_info.robot_pos)
dis = get_dis(dst, robot_pos)
diff_angle = abs_angle_diff(dst.z - robot_pos.z)
return dis < self.dis_tol and diff_angle < self.angle_tol
def condition(self):
dst = self.get_bb().init_pos
robot_pos = VecPos.from_vector3(self.get_bb().vision_info.robot_pos)
dis = get_dis(dst, robot_pos)
diff_angle = abs_angle_diff(dst.z - robot_pos.z)
initial_entry_exit = dis >= self.dis_tol and diff_angle >= self.angle_tol
in_enemy_field = (self.get_bb().param.attack_right and robot_pos.x > 10) or \
(not self.get_bb().param.attack_right and robot_pos.x < -10)
return initial_entry_exit or in_enemy_field
def condition(self):
dst = self.get_bb().init_pos
robot_pos = VecPos.from_vector3(self.get_bb().vision_info.robot_pos)
dis = get_dis(dst, robot_pos)
diff_angle = abs_angle_diff(dst.z - robot_pos.z)
if self.get_bb().param.attack_right:
in_enemy_field = robot_pos.x >= 10
else:
in_enemy_field = robot_pos.x <= -10
return dis >= self.dis_tol and \
diff_angle <= self.angle_tol and \
in_enemy_field