def __init__(self, name, passerNo, shooterNo): super(PassShoot, self).__init__(name) # 1 passerがボールに近づく FIRST = ParallelOne("FIRST") FIRST.add_child( Kick.SetPassTarget("Set pass target", passerNo, shooterNo)) FIRST.add_child(Kick.Approach("Passer approach", passerNo)) FIRST.add_child(BaseSkill.SuccessTimer("SuccessTimer1.0", 1.0)) self.add_child(FIRST) # 2 shooterがshoot位置に移動する SECOND = ParallelOne("SECOND") SECOND.add_child(BaseSkill.WaitToReceive("Shooter wait", shooterNo)) SECOND.add_child( Analyst.IsOnTarget("Shooter is on target", shooterNo, 0.5)) SECOND.add_child(BaseSkill.SuccessTimer("SuccessTimer2.0", 3.0)) self.add_child(SECOND) # # 3 passerがボールを蹴る THIRD = ParallelAll("THIRD") THIRD.add_child( Kick.SetPassTarget("Set pass target", passerNo, shooterNo)) THIRD.add_child(Kick.Pass("PASS", passerNo)) # 3 shooterが受け取りshootする THIRD.add_child(Kick.CalcuKickTarget("CalcuKickTarget", shooterNo)) THIRD.add_child(Kick.ReceiveShoot("ReceiveShoot", shooterNo)) THIRD.add_child(BaseSkill.FailureTimer("FailureTimer7.0", 10.0)) INVERT = Invert("Invert") INVERT.add_child(Analyst.IsBaller("IsBaller", shooterNo, 1.0)) THIRD.add_child(INVERT) self.add_child(THIRD)
def __init__(self, name): super(ExeNormal_Pre, self).__init__(name) self.add_child(Analyst.ThereAreRobots("ThereAreRobots")) self.add_child(GoalKeeper.StopGame("GoalKeeperStop", 0)) self.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 1)) self.add_child(Kick.Approach("Approach", 1)) self.add_child(Defender.StopGame("DefenderStop", 2))
def __init__(self, name): super(Prepare, self).__init__(name) EXE_SELECTOR = Selector("EXE_SELECTOR") ONE_ROBOT = ParallelAll("ONE_ROBOT") ONE_ROBOT.add_child(Analyst.ThereIsOnlyOneRobot("ThereIsOneRobot")) ONE_ROBOT.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0)) ONE_ROBOT.add_child(Kick.Approach("Approach", 0)) EXE_SELECTOR.add_child(ONE_ROBOT) SOME_ROBOTS = ParallelAll("SOME_ROBOTS") SOME_ROBOTS.add_child(Analyst.ThereAreRobots("ThereAreRobots")) SOME_ROBOTS.add_child(GoalKeeper.StopGame("GoalKeeperStop", 0)) SOME_ROBOTS.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 1)) SOME_ROBOTS.add_child(Kick.Approach("Approach", 1)) SOME_ROBOTS.add_child(Defender.StopGame("DefenderStop", 2)) EXE_SELECTOR.add_child(SOME_ROBOTS) self.add_child(IsPENALTY_FRIEND("IsPENALTY_FRIEND")) self.add_child(EXE_SELECTOR)
def __init__(self, name): super(ExeOneRobot_Pre, self).__init__(name) self.add_child(Analyst.ThereIsOnlyOneRobot("ThereIsOneRobot")) self.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0)) self.add_child(Kick.Approach("Approach", 0))