def __init__(self, game_state, player_id, p_target=Pose(), args=None, time_to_live=DEFAULT_TIME_TO_LIVE):
Tactic.__init__(self, game_state, player_id, p_target, args, time_to_live=time_to_live)
assert isinstance(player_id, int)
self.current_state = self.halt
self.next_state = self.halt
self.player_id = player_id
def __init__(self,
p_game_state,
p_player_id,
p_y_top,
p_y_bottom,
p_x_left,
p_x_right,
p_is_yellow=False):
Tactic.__init__(self, p_game_state, p_player_id)
assert isinstance(p_player_id, int)
assert PLAYER_PER_TEAM >= p_player_id >= 0
assert isinstance(p_y_top, (int, float))
assert isinstance(p_y_bottom, (int, float))
assert isinstance(p_x_left, (int, float))
assert isinstance(p_x_right, (int, float))
assert isinstance(p_is_yellow, bool)
self.player_id = p_player_id
self.y_top = p_y_top
self.y_bottom = p_y_bottom
self.x_left = p_x_left
self.x_right = p_x_right
self.is_yellow = p_is_yellow
self.current_state = self.cover_zone
self.next_state = self.cover_zone
self.status_flag = Flags.WIP
self.target = Pose(
Position(int((p_x_right - p_x_left) / 2),
int((p_y_top - p_y_bottom) / 2)))
def __init__(self,
game_state: GameState,
player: OurPlayer,
target: Pose = Pose(),
args: List[str] = None,
p_y_top: [int, float] = 3000,
p_y_bottom: [int, float] = -3000,
p_x_left: [int, float] = -4500,
p_x_right: [int, float] = 4500,
p_is_yellow: bool = False):
Tactic.__init__(self, game_state, player, target, args)
assert isinstance(p_y_top, (int, float))
assert isinstance(p_y_bottom, (int, float))
assert isinstance(p_x_left, (int, float))
assert isinstance(p_x_right, (int, float))
assert isinstance(p_is_yellow, bool)
self.y_top = p_y_top
self.y_bottom = p_y_bottom
self.x_left = p_x_left
self.x_right = p_x_right
self.is_yellow = p_is_yellow
self.current_state = self.cover_zone
self.next_state = self.cover_zone
self.status_flag = Flags.WIP
self.target = Pose(
Position(int((p_x_right - p_x_left) / 2),
int((p_y_top - p_y_bottom) / 2)))
def __init__(self, game_state, player_id, target, args=None,):
Tactic.__init__(self, game_state, player_id, target, args)
assert isinstance(player_id, int)
assert PLAYER_PER_TEAM >= player_id >= 0
self.current_state = self.move_to_catch_ball
self.next_state = self.move_to_catch_ball
self.player_id = player_id
def __init__(self,
game_state: GameState,
player: OurPlayer,
target: Pose = Pose(),
args: List[str] = None):
Tactic.__init__(self, game_state, player, target, args)
self.current_state = self.go_between_ball_and_target
self.next_state = self.go_between_ball_and_target
def __init__(self, game_state, player_id):
Tactic.__init__(self, game_state, player_id)
assert isinstance(player_id, int)
assert PLAYER_PER_TEAM >= player_id >= 0
self.current_state = self.rotate_towards_ball
self.next_state = self.rotate_towards_ball
self.player_id = player_id
def __init__(self,
game_state: GameState,
player: OurPlayer,
target: Pose = Pose(),
args: List[str] = None):
Tactic.__init__(self, game_state, player, target, args)
self.current_state = self.move_to_pass_position
self.next_state = self.move_to_pass_position
def __init__(self, game_state, team_id, player_id):
Tactic.__init__(self, game_state, team_id, player_id)
self.current_state = 'halt'
self.next_state = 'halt'
self.dispatch.update({
'follow_ball': self.follow_ball,
'follow_next_player': self.follow_next_player
})
def __init__(self,
game_state: GameState,
player: OurPlayer,
p_target: Pose = Pose(),
args: List[str] = None):
Tactic.__init__(self, game_state, player, p_target, args)
self.robot_to_follow_id = int(args[0])
self.current_state = self.halt
self.next_state = self.halt
def __init__(self,
game_state: GameState,
player: OurPlayer,
target: Pose = Pose(),
args: List[str] = None):
Tactic.__init__(self, game_state, player, target, args)
self.current_state = self.kick_charge
self.next_state = self.kick_charge
self.last_time = time.time()
self.target = target
def __init__(self,
game_state: GameState,
player: OurPlayer,
target: Pose = None,
args: List[str] = None):
Tactic.__init__(self, game_state, player, target, args)
self.current_state = self.get_behind_ball
self.next_state = self.get_behind_ball
self.last_ball_position = self.game_state.get_ball_position()
self.last_angle = 0
self.last_time = time.time()
def __init__(self,
game_state: GameState,
player: OurPlayer,
target: Pose = Pose(),
args=None):
Tactic.__init__(self, game_state, player, target, args)
self.current_state = self.get_behind_ball
self.next_state = self.get_behind_ball
self.debug_interface = DebugInterface()
self.target = target
def __init__(self,
game_state,
player_id,
p_target,
time_to_live=DEFAULT_TIME_TO_LIVE):
Tactic.__init__(self, game_state, p_target, time_to_live=time_to_live)
assert isinstance(player_id, int)
self.current_state = self.halt
self.next_state = self.halt
self.player_id = player_id
def __init__(self, game_state, player_id, target=Pose(), args=None):
Tactic.__init__(self, game_state, player_id, target, args)
assert isinstance(player_id, int)
assert PLAYER_PER_TEAM >= player_id >= 0
assert isinstance(target, Pose)
# TODO : s'assurer de la target_position soit à l'intérieur du terrain
self.current_state = self.kick_ball_towards_target
self.next_state = self.kick_ball_towards_target
self.player_id = player_id
self.target_position = target
def __init__(
self,
game_state: GameState,
player: OurPlayer,
target: Pose = Pose(),
args: List[str] = None,
):
Tactic.__init__(self, game_state, player, target, args)
self.is_yellow = self.player.team.team_color == TeamColor.YELLOW_TEAM
self.current_state = self.protect_goal
self.next_state = self.protect_goal
self.status_flag = Flags.WIP
def __init__(self,
game_state: GameState,
player: OurPlayer,
target: Pose = Pose(),
args: List[str] = None):
Tactic.__init__(self, game_state, player, target, args)
# TODO enemy id ???
self.enemy_id = 4
self.current_state = self.go_between_ball_and_enemy
self.next_state = self.go_between_ball_and_enemy
self.target = target
def __init__(self, p_game_state, player_id, target=Pose()):
Tactic.__init__(self, p_game_state, player_id, target)
assert isinstance(player_id, int)
assert PLAYER_PER_TEAM >= player_id >= 0
self.player_id = player_id
self.current_state = self.get_behind_ball
self.next_state = self.get_behind_ball
self.move_action = GoToPosition(self.game_state, self.player_id,
self.game_state.get_player_pose(self.player_id))
self.move_action.status_flag = Flags.SUCCESS
self.last_ball_position = self.game_state.get_ball_position()
def __init__(self,
game_state: GameState,
player: OurPlayer,
target: Pose = Pose(),
args: List[str] = None):
Tactic.__init__(self, game_state, player, target, args)
self.current_state = self.get_behind_ball
self.next_state = self.get_behind_ball
self.debug_interface = DebugInterface()
self.move_action = self._generate_move_to()
self.move_action.status_flag = Flags.SUCCESS
self.last_ball_position = self.game_state.get_ball_position()
self.charge_time = 0
self.last_time = time.time()
self.orientation_target = 0
self.target = target
def __init__(self, game_state: GameState, player: OurPlayer, center_position, target: Pose, args: List[str]=None):
Tactic.__init__(self, game_state, player, target, args)
self.ANGLE_INCREMENT = m.pi/8
self.pose_list = []
self.index = 0
self.origin = center_position
self.initial_position = None
self.initial_orientation = None
self.initial_distance = None
self.initial_angle = None
self.target_angle = None
self.delta_angle = None
self.num_points = None
self.angle_increment = None
self.status_flag = Flags.INIT
self.current_state = self.calculate_path
self.next_state = self.rotate_around
def __init__(self, p_game_state, player_id, target=Pose(), args=None):
Tactic.__init__(self, p_game_state, player_id, target, args)
assert isinstance(player_id, int)
assert PLAYER_PER_TEAM >= player_id >= 0
self.player_id = player_id
self.current_state = self.kick_charge
self.next_state = self.kick_charge
self.debug_interface = DebugInterface()
self.move_action = self._generate_move_to()
self.move_action.status_flag = Flags.SUCCESS
self.last_ball_position = self.game_state.get_ball_position()
self.charge_time = 0
self.last_time = time.time()
self.target = target
self.go_get_ball_tactic = GoGetBall(self.game_state, self.player_id, self.target)
def __init__(self, p_game_state, player_id, target=Pose(), args=None):
Tactic.__init__(self, p_game_state, player_id, target, args)
assert isinstance(player_id, int)
assert PLAYER_PER_TEAM >= player_id >= 0
self.player_id = player_id
self.current_state = self.get_behind_ball
self.next_state = self.get_behind_ball
self.p_game_state = p_game_state
self.move_action = \
GoToPositionNoPathfinder(self.game_state,
self.player_id,
self.game_state.
get_player_pose(self.player_id))
self.move_action.status_flag = Flags.SUCCESS
self.last_ball_position = self.game_state.get_ball_position()
self.last_angle = 0
self.last_time = time.time()
self.vector_norm = 1000
self.debug = DebugInterface()
def __init__(self, p_game_state, p_player_id, target=Pose(), args=None,
p_y_top=3000, p_y_bottom=-3000, p_x_left=-4500, p_x_right=4500, p_is_yellow=False):
Tactic.__init__(self, p_game_state, p_player_id, target, args)
assert isinstance(p_player_id, int)
assert PLAYER_PER_TEAM >= p_player_id >= 0
assert isinstance(p_y_top, (int, float))
assert isinstance(p_y_bottom, (int, float))
assert isinstance(p_x_left, (int, float))
assert isinstance(p_x_right, (int, float))
assert isinstance(p_is_yellow, bool)
self.player_id = p_player_id
self.y_top = p_y_top
self.y_bottom = p_y_bottom
self.x_left = p_x_left
self.x_right = p_x_right
self.is_yellow = p_is_yellow
self.current_state = self.cover_zone
self.next_state = self.cover_zone
self.status_flag = Flags.WIP
self.target = Pose(Position(int((p_x_right - p_x_left)/2), int((p_y_top - p_y_bottom)/2)))
def __init__(self, game_state, player_id, center_position, target, args=None,):
Tactic.__init__(self, game_state, player_id, target, args)
assert PLAYER_PER_TEAM >= player_id >= 0
MINIMUM_DISTANCE = 110 # TODO: à mettre dans les constantes
self.ANGLE_INCREMENT = m.pi/8
self.pose_list = []
self.index = 0
self.origin = center_position
self.initial_position = None
self.initial_orientation = None
self.initial_distance = None
self.initial_angle = None
self.target_angle = None
self.delta_angle = None
self.num_points = None
self.angle_increment = None
self.status_flag = Flags.INIT
self.current_state = self.calculate_path
self.next_state = self.rotate_around
def __init__(self, game_state, team_id, player_id, target=Pose(), args=None):
Tactic.__init__(self, game_state, team_id, player_id, target, args)
self.current_state = 'halt'
self.next_state = 'halt'
self.dispatch.update({'follow_ball': self.follow_ball, 'follow_next_player': self.follow_next_player})
def __init__(self, game_state: GameState, player: OurPlayer, target: Pose, args: List[str]=None,):
Tactic.__init__(self, game_state, player, target, args)
self.current_state = self.move_to_catch_ball
self.next_state = self.move_to_catch_ball
def __init__(self, game_state: GameState, player: OurPlayer, target: Pose=Pose(), args: List[str]=None):
Tactic.__init__(self, game_state, player, target, args)
# TODO : s'assurer de la target_position soit à l'intérieur du terrain
self.current_state = self.kick_ball_towards_target
self.next_state = self.kick_ball_towards_target
self.target_position = target