def _position_optimally_objective_goalie(state: PlayerState):
if "kick_off" in state.world_view.game_state:
# If already close to starting position, do idle orientation
if state.position.get_value().euclidean_distance_from(
state.get_global_start_pos()) < 2:
return Objective(state, lambda: actions.idle_orientation(state),
lambda: True)
return Objective(
state, lambda: actions.jog_to(state, state.get_global_start_pos()),
lambda: True)
optimal_position = _optimal_goalie_pos(state)
current_position: Coordinate = state.position.get_value()
dist = current_position.euclidean_distance_from(optimal_position)
if dist > 6.0:
target = optimal_position
return Objective(state, lambda: actions.rush_to(state, target),
lambda: True)
if dist > 0.6:
difference = optimal_position - current_position
return Objective(
state, lambda: actions.positional_adjustment(state, difference),
lambda: True)
else:
return Objective(state, lambda: actions.idle_orientation(state),
lambda: True)
def _optimal_goalie_pos(state: PlayerState):
if state.team_name in configurations.GOALIE_MODEL_TEAMS:
if state.goalie_position_strategy is not None:
optimal_coord = Coordinate(state.goalie_position_strategy.pos_x,
state.goalie_position_strategy.pos_y)
state.goalie_position_strategy = None
return optimal_coord
else:
ball: Ball = state.world_view.ball.get_value()
y_value = clamp(ball.coord.pos_y * 0.8, -5, 5)
return Coordinate(state.get_global_start_pos().pos_x, y_value)
else:
ball: Ball = state.world_view.ball.get_value()
y_value = clamp(ball.coord.pos_y * 0.8, -5, 5)
return Coordinate(state.get_global_start_pos().pos_x, y_value)
def _position_optimally_objective(state: PlayerState):
if "kick_off" in state.world_view.game_state:
# If already close to starting position, do idle orientation
if state.position.get_value().euclidean_distance_from(
state.get_global_start_pos()) < 2:
return Objective(state, lambda: actions.idle_orientation(state),
lambda: True)
return Objective(
state, lambda: actions.jog_to(state, state.get_global_start_pos()),
lambda: True)
if state.player_type == "defender":
optimal_position = _optimal_defender_pos(state)
elif state.player_type == "midfield":
optimal_position = _optimal_midfielder_pos(state)
elif state.player_type == "goalie":
optimal_position = _optimal_goalie_pos(state)
else: # Striker
optimal_position = _optimal_striker_pos(
state) # _optimal_attacker_pos(state)
current_position: Coordinate = state.position.get_value()
dist = current_position.euclidean_distance_from(optimal_position)
if dist > 6.0: # todo: Should they sprint if dist > 10?
target = optimal_position
return Objective(state, lambda: actions.rush_to(state, target),
lambda: True)
if dist > 2.0:
difference = optimal_position - current_position
return Objective(
state, lambda: actions.positional_adjustment(state, difference),
lambda: True)
else:
return Objective(state, lambda: actions.idle_orientation(state),
lambda: True)
