def goToBall(self):
if (self.agentType == "keeper"):
V = kUtil.getVector(self.noisy_pos, self.onReceiveDecision[1])
else:
#you have a taker
V = kUtil.getVector(self.noisy_pos, self.noisyBallPos)
self.worldRef.moveAttempt(self, (V, self.maxPlayerSpeed))
def test_rotated_vectors(self):
import keepAway
keepAwayWorld = keepAway.keepAway(0)
#intialize agent to position 25,25 with no noise/error, as a keeper, with (357/2, 550/2) as center of field,
#and 2 as agent speed, and 3 as ball speed
Agent = agent(keepAwayWorld,(25, 25), 0.0, "keeper", (357/2, 550/2), 2, 3)
cos5 = math.cos(5.0 * math.pi / 180) #cosine of 3 degress. angle needs to be in radians
#Agent.receiveListOfOtherPlayers(self.keeperArray, self.takerArray, i)
testBall = ball.ball((25,25), 3, True)
Agent.receiveBallReference(testBall)
v = kUtil.getVector((25,25), (30, 30)) #a vector whose angle is 45 degrees
answer = Agent.__getRotatedVectors(v, cos5)
correctAnswer1 = [((math.cos(50 * math.pi / 180)), (math.sin(50 * math.pi/180))),
((math.cos(40 * math.pi / 180)), (math.sin(40 * math.pi/180)))]
"""
print "answer"
print answer
print "correct"
print correctAnswer1
"""
for i in range(len(correctAnswer1)):
for j in range(len(correctAnswer1[i])):
str1 = "failed at: i = %d "%i
str2 = "j = %d" %j
strend = str1 + str2
self.assertAlmostEqual(answer[i][j], correctAnswer1[i][j], msg=strend)
def __blockPass(self, kIndex):
"""
This function will take a keeper to block as a parameter. The keeper
that this taker is trying to block should NOT have the ball.
This function works by taking the position of the keeper with the ball,
and the position of the keeper to block, and making the taker run to the
midpoint of these 2 positions. In 3V2 keepaway, this function should be
implemented by the taker farther from the ball.
:param kIndex: the index of the keeper to take, sorted by distance. so kIndex = 1 means
the keeper who is closest to the ball besides the keeper who has the ball.
kIndex = 2 means the 2nd closest keeper, and so on.
:type kIndex: integer
:returns: nothing
"""
#kIndex is ordered based on who is the closest keeper
keeperActual = sorted(self.keeperArray)
#use the current keeper 0 position to block pass
midPoint = kUtil.getMidPoint(keeperActual[0].get_noisy_pos(), keeperActual[kIndex].get_noisy_pos())
#use the predicted keeper 0 position to block pass
#midPoint = kUtil.getMidPoint(self.onReceiveDecision[1], keeperActual[kIndex].noisy_pos)
vector = kUtil.getVector(self.__noisy_pos, midPoint)
minDist = min(self.maxPlayerSpeed, kUtil.getDist(self.__noisy_pos, midPoint))
self.worldRef.moveAttempt(self, (vector, minDist))
def _passBall(self, pointToPassTo):
'''
If a keeper currently has the ball, then it has the option to hold the ball,
or pass it. Call this function to pass the ball. pointToPassTo is the coordinate that
the keeper can pass to. these are pixel values
:param pointToPassTo: the tile that the agent is passing to. It is an XY coordinate defined to be the top left
corner of the tile you're trying to pass to
:type pointToPassTo: typle of int
:returns: no return
'''
if self.fieldBall == None:
print("ERROR: trying to hold ball without actually having ball")
return
#pass to team mate integerK. if integerK = 1, then it's the 2nd element in array
selfToTargetDirection = kUtil.unitVector(kUtil.getVector(self.__getBallCenter(self.noisyBallPos), pointToPassTo))
selfToTargetVector = (kUtil.scalarMultiply(self.fieldBall.maxBallSpeed, selfToTargetDirection))
#at this point, you've determined the angle you wanna pass, and you pass.
#set ball's possesion to false, and update to new point. ball class handles direction vector
self.fieldBall.updatePosession(False)
self.inPosession = False
self.isKicking = True
#kUtil.addVectorToPoint(self.fieldBall.trueBallPos, selfToTeammateVector)
self.fieldBall.updateDirection(kUtil.getNoisyVals(selfToTargetVector, self.getSigma()))
def __goToBall(self):
"""
If a keeper is calling this method, then this method will make the keeper
run directly towards the ball if the ball is stationary. If the ball is
not stationary, then the simulator will use the calcReceieve methods in
order to calculate the optimal intersection point that the keeper can
run to. The keeper will then run towards that intercept point using
this function. The only keeper that should be running to the ball is
the keeper that can get to the ball the fastest. all other keepers should
be implementing the getOpen() function.
For a taker, the taker will simply run towards the ball. The taker that is
closest to the ball should call this function, while the taker that is farther
should try to block a pass with blockPass method.
:returns: no return
.. note::
For keepers, this function will use information that is set when the simulator calls
the agent method receiveDecision. Do not call __goToBall for a keeper unless that
simulator function has been called.
"""
if (self.__agentType == "keeper"):
V = kUtil.getVector(self.__noisy_pos, self.onReceiveDecision[1])
minDist = min(self.maxPlayerSpeed, kUtil.getDist(self.__noisy_pos, self.onReceiveDecision[1]))
else:
#you have a taker. have him be stupider by going to the ball rather than the intersection point
V = kUtil.getVector(self.__noisy_pos, self.noisyBallPos)
minDist = min(self.maxPlayerSpeed, kUtil.getDist(self.__noisy_pos, self.noisyBallPos))
#these 2 lines of code are for if you want keepers and takers to go to same location
#this is the more challenging case as the taker will predict where the ball intersects
"""
V = kUtil.getVector(self.__noisy_pos, self.onReceiveDecision[1])
minDist = min(self.maxPlayerSpeed, kUtil.getDist(self.__noisy_pos, self.onReceiveDecision[1]))
"""
self.worldRef.moveAttempt(self, (V, minDist))
def getOpen(self, respectivePos):
keeper = self
stepIncrease = 5
maximum = -9999
#the threshold is compared to cosTheta. so 0 means the windows has to be at least 90 degrees.
#1.0 is most flexible value as it's saying the angle has to be at least 0
threshold = 0.9
maxPoint = None
tempmaximum = -9999
tempmaxPoint = None
playersToIterate = []
for isKeeper in self.keeperArray:
if isKeeper != self:
playersToIterate.append(isKeeper)
for taker in self.takerArray:
playersToIterate.append(taker)
pointsToIterate = [(self.true_pos[0],self.true_pos[1]+stepIncrease),
(self.true_pos[0]+stepIncrease,self.true_pos[1]),
(self.true_pos[0]+stepIncrease,self.true_pos[1]+stepIncrease),
(self.true_pos[0]-stepIncrease,self.true_pos[1]-stepIncrease),
(self.true_pos[0]-stepIncrease,self.true_pos[1]),
(self.true_pos[0],self.true_pos[1]-stepIncrease),
(self.true_pos[0]-stepIncrease,self.true_pos[1]+stepIncrease),
(self.true_pos[0]+stepIncrease,self.true_pos[1]-stepIncrease),]
for point in pointsToIterate:
if kUtil.cosTheta(point, respectivePos, self.takerArray[0].true_pos)>threshold and kUtil.cosTheta(point, respectivePos, self.takerArray[1].true_pos)>threshold:
spar = 0
for player in playersToIterate:
spar += kUtil.getDist(player.true_pos, point)
if spar>tempmaximum:
tempmaximum = spar
tempmaxPoint = point
continue
else:
spar = 0
for player in playersToIterate:
spar += kUtil.getDist(player.true_pos, point)
if spar>maximum:
maximum = spar
maxPoint = point
if maxPoint == None:
#print("no open position available for agent #", self.agentListIndex + 1)
maxPoint = tempmaxPoint
#return (kUtil.getVector(keeper.true_pos, maxPoint),stepIncrease)
self.worldRef.moveAttempt(self, (kUtil.getVector(keeper.true_pos, maxPoint), self.maxPlayerSpeed))
def __getOpen(self):
"""
This function implements a hand coded procedure to go and place individual agents
in an optimal position to receive a pass. The code for this function is
based heavily on "Algorithm 2 GetOpen:Hand-coded", which is the pseudo-code
for the getOpen function used by some other researchers and was published
here:
http://www.cs.utexas.edu/users/pstone/Papers/bib2html-links/LNAI09-kalyanakrishnan-1.pdf
Only keeper who are not trying to go after the ball should call this method.
The decision for who goes after the ball or gets open is deterministic.
:returns: nothing
"""
#note: safety constant is cos(18.4) degrees
safetyConstant = 0.94887601164449654493424118056447
curMax = float("-inf")
argMax = self.getOpenPoints[12] #default case
if self.worldRef.fieldBall.trueBallDirection == (0.0, 0.0):
predictedBallPos = self.noisyBallPos
else:
predictedBallPos = self.onReceiveDecision[1]
for point in self.getOpenPoints:
safety = max(kUtil.cosTheta(point, predictedBallPos, self.takerArray[0].get_noisy_pos()),
kUtil.cosTheta(point, predictedBallPos, self.takerArray[1].get_noisy_pos()))
if (safety > safetyConstant):
#angle is too narrow, a taker can easily steal
continue
#if you're at this point, then then point is a safe point to consider
teamCongestion = 0.0
oppCongestion = 0.0
totalCongestion = 0.0
value = 0.0
for i in range(len(self.keeperArray)):
if i != self.agentListIndex:
teamCongestion += 1.0 / (kUtil.getDist(self.keeperArray[i].get_noisy_pos(), point))
for i in range(len(self.takerArray)):
oppCongestion += 1.0 / (kUtil.getDist(self.takerArray[i].get_noisy_pos(), point))
totalCongestion = teamCongestion + oppCongestion
value = -1.0 * totalCongestion
if (value > curMax):
curMax = value
argMax = point
#At this point, just run towards argMax at max speed
minDist = min(self.maxPlayerSpeed, kUtil.getDist(self.__noisy_pos, argMax))
self.worldRef.moveAttempt(self, (kUtil.getVector(self.__noisy_pos, argMax), minDist) )
def calcOptimal(self, agentList, i, intersect):
V = kUtil.getVector(self.fieldBall.trueBallPos, intersect)
UV = kUtil.unitVector(V)
stepVector = kUtil.scalarMultiply(self.maxBallSpeed, UV)
#keep adding the step vector to the optimal point
optimalPoint = self.fieldBall.trueBallPos
maxNumSteps = int(kUtil.getDist(self.fieldBall.trueBallPos, intersect)/ self.maxBallSpeed)
stepCount = 0
for k in range(maxNumSteps):
optimalPoint = kUtil.addVectorToPoint(optimalPoint, stepVector)
stepCount += 1
currPd = kUtil.getDist(optimalPoint,agentList[i].true_pos)
currBd = kUtil.getDist(self.fieldBall.trueBallPos, optimalPoint)
currPt = currPd / self.maxPlayerSpeed
currBt = currBd / self.maxBallSpeed
if currPt < currBt:
#found the optimal, so return it
return optimalPoint
#if you get here, then no closer optimal was found, so just return the intersect
return intersect
def passBall(self, integerK):
#if you're passing to integerK = 1, then that means pass to the keeper that's closer to you
#if you're passing ot integerK = 2, then that means pass to the keeper that's farther to you
#0 is an invalid input
sortedKeepers = sorted(self.keeperArray)
if integerK == 0:
print("Invalid input for integerK! integerK not allowed to be", integerK)
return
if self.fieldBall == None:
print("ERROR: trying to hold ball without actually having ball")
return
#pass to team mate integerK. if integerK = 1, then it's the 2nd element in array
selfToTeammateDirection = kUtil.unitVector(kUtil.getVector(self.noisyBallPos, sortedKeepers[integerK].noisy_pos))
selfToTeammateVector = (kUtil.scalarMultiply(self.fieldBall.maxBallSpeed, selfToTeammateDirection))
#set ball's possesion to false, and update to new point. ball class handles direction vector
self.fieldBall.updatePosession(False)
self.inPosession = False
self.isKicking = True
#kUtil.addVectorToPoint(self.fieldBall.trueBallPos, selfToTeammateVector)
self.fieldBall.update(selfToTeammateVector)
#self.fieldBall.updatepos( kUtil.addVectorToPoint(self.fieldBall.true_pos, selfToTeammateVector ) )
return (selfToTeammateDirection, self.maxBallSpeed)
def _passBall(self, integerK):
"""
If a keeper currently has the ball, then it has the option to hold the ball,
or pass it. Call this function to pass the ball. integerK represents the
keeper that the ball holder is passing to. integerK = 1 means pass to the
keeper that is closest to the ball besides the ball holder. integerK = 2
means pass to the 2nd closest, and so on. Only subclasses of agent should
be calling this function.
:param integerK: this represents the
keeper that the ball holder is passing to. integerK = 1 means pass to the
keeper that is closest to the ball besides the ball holder. integerK = 2
means pass to the 2nd closest, and so on.
:type integerK: integer
:returns: no return
"""
#print("passing to keeper " + str(integerK) + ", indexed by distance. ")
#if you're passing to integerK = 1, then that means pass to the keeper that's closer to you
#if you're passing ot integerK = 2, then that means pass to the keeper that's farther to you
#0 is an invalid input
sortedKeepers = sorted(self.keeperArray)
if integerK == 0:
print("Invalid input for integerK! integerK not allowed to be", integerK)
return
if self.fieldBall == None:
print("ERROR: trying to hold ball without actually having ball")
return
#pass to team mate integerK. if integerK = 1, then it's the 2nd element in array
selfToTeammateDirection = kUtil.unitVector(kUtil.getVector(self.noisyBallPos, sortedKeepers[integerK].get_noisy_pos()))
selfToTeammateVector = (kUtil.scalarMultiply(self.fieldBall.maxBallSpeed, selfToTeammateDirection))
"""
#this code segment is for determining which angle you'd rather pass to. it's all deterministic
ballPos = self.noisyBallPos
passVectorsToConsider = []
passVectorsToConsider.append(selfToTeammateDirection)
for i in range(len(self.cosinesOfInterest)):
passVectorsToConsider = passVectorsToConsider + self.__getRotatedVectors(selfToTeammateDirection, self.cosinesOfInterest[i])
#now sort the vectors based on how open they are:
self.worldRef.debugPassVectors(ballPos, passVectorsToConsider)
passVectorsToConsider = sorted(passVectorsToConsider,
key = lambda vector: max ( kUtil.cosTheta(self.worldRef.takerArray[0].getNoisyMidPoint(), ballPos, kUtil.addVectorToPoint(ballPos, vector)),
kUtil.cosTheta(self.worldRef.takerArray[1].getNoisyMidPoint(), ballPos, kUtil.addVectorToPoint(ballPos, vector))),
)
#iterate over the sorted list until you find a pass that you can do
for i in range(len(passVectorsToConsider)):
if( calcReceive.calc_receive(self.worldRef, passVectorsToConsider[i]) != None):
selfToTeammateDirection = passVectorsToConsider[i]
selfToTeammateVector = (kUtil.scalarMultiply(self.fieldBall.maxBallSpeed, selfToTeammateDirection))
print "PASS USING ANGLE ACHEIVED AT i=", i
break
"""
#at this point, you've determined the angle you wanna pass, and you pass.
#set ball's possesion to false, and update to new point. ball class handles direction vector
self.fieldBall.updatePosession(False)
self.inPosession = False
self.isKicking = True
#kUtil.addVectorToPoint(self.fieldBall.trueBallPos, selfToTeammateVector)
self.fieldBall.updateDirection(kUtil.getNoisyVals(selfToTeammateVector, self.__sigma))
def __calcOptimal(worldRef, agentList, i, intersect):
"""
This function is a private function meant to assist another private function called
__calc_receive_ball_moving.
once __calc_receive_ball_moving has calculated the intersection point, there's
one last step: to make sure that the intersection point isn't too close to
the out of bounds area. If the intersection point too close to out of bounds,
then return an intersection point along the path that the ball is traveling, but
is just still safely away from the out of bounds areas.
.. note::
This is a private function that the user shouldn't worry about calling.
Only the calc_receive function should be called.
:param worldRef: a reference to the simulator class which is calling this function
:param agentList: a list provided by the simulator of all agents
:param i: the index of the agent running to the ball for the list agentList
:param intersect: the intersection point that has been calculated, and might be too
close to out of bounds
:type worldRef: keepAway class
:type agentList: a list where each element is an agent class
:type i: integer
:type intersect: a tuple of floats
:returns: the intersection coordinate which is safely within bounds, or the original
intersection point if no such point is found
:rtype: tuple of floats
"""
#if the intersect is in bounds, just go to it. no calculations needed
if __isPointOutOfPlayRegion(worldRef, intersect, agentList, i) == False:
#print("point in bounds, return intersect")
return intersect
#V = vector from agent's perpendicular intercept to the ball
V = kUtil.getVector(intersect, worldRef.fieldBall.trueBallPos)
#turn V into a unit vector and multipy it by the speed of the ball to get velocity vector
UV = kUtil.unitVector(V)
stepVector = kUtil.scalarMultiply(worldRef.maxBallSpeed, UV)
#the optimal point is intialized to the intersect, and
#the intersect is currently out of bounds.
#keep adding the step vector to the optimal point until
#the intersect is no longer out of bounds
optimalPoint = intersect
maxNumSteps = int(kUtil.getDist(worldRef.fieldBall.trueBallPos, intersect)/ worldRef.maxBallSpeed)
stepCount = 0
#if you can't get to the ball in maxNumSteps, then it's hopeless. simply
#return the intersection point. Your agent will fail and the ball will
#go out of bounds, but there's nothing that can be done
for k in range(maxNumSteps):
optimalPoint = kUtil.addVectorToPoint(optimalPoint, stepVector)
stepCount += 1
if __isPointOutOfPlayRegion(worldRef, optimalPoint, agentList, i) == False:
#print("Optimal found, returning optimal point:", optimalPoint)
return optimalPoint
#if you get here, then no closer optimal was found
#print("no optimal found, returning intersect", intersect)
return intersect
def blockPass(self, kIndex):
#kIndex is ordered based on who is the closest keeper
keeperActual = sorted(self.keeperArray)
midPoint = kUtil.getMidPoint(keeperActual[0].noisy_pos, keeperActual[kIndex].noisy_pos)
vector = kUtil.getVector(self.noisy_pos, midPoint)
self.worldRef.moveAttempt(self, (vector, self.maxPlayerSpeed))
