class DirectFreeDefence(StrategyCalcuratorBase):
"""
referee_branchがDIRECT_FREE_DEFENCEの場合のCalcurator。
"""
def __init__(self, objects):
self._robot = objects.robot
self._enemy = objects.enemy
self._robot_ids = objects.get_robot_ids()
self._enemy_ids = objects.get_enemy_ids()
self._ball_params = objects.ball
self._dynamic_strategy = DynamicStrategy()
self._objects = objects
def calcurate(self, strategy_context=None):
# type: (StrategyContext) -> StrategyBase
if self._detect_enemy_kick(strategy_context):
strategy_context.update("enemy_kick", True, namespace="world_model")
strategy_context.update("defence_or_attack", False, namespace="world_model")
active_robot_ids = self._get_active_robot_ids()
active_enemy_ids = self._get_active_enemy_ids()
nearest_enemy_id = self._objects.get_enemy_ids_sorted_by_distance_to_ball(active_enemy_ids)[0]
second_nearest_enemy_id = self._objects.get_enemy_ids_sorted_by_distance_to_ball(active_enemy_ids)[1]
for robot_id in active_robot_ids:
status = Status()
robot = self._objects.get_robot_by_id(robot_id)
if robot.get_role() == "GK":
status.status = "keeper"
elif robot.get_role() == "LDF":
status.status = "defence4"
elif robot.get_role() == "RDF":
status.status = "defence3"
elif robot.get_role() == "LFW":
#敵kickerとballの延長線上に移動
status.status = "move_linear"
# if second_nearest_enemy_id != None:
if True:
# status.pid_goal_pos_x, status.pid_goal_pos_y = functions.calculate_internal_dividing_point(self._enemy[nearest_enemy_id].get_current_position()[0], self._enemy[nearest_enemy_id].get_current_position()[1], self._ball_params.get_current_position()[0], self._ball_params.get_current_position()[1], functions.distance_btw_two_points(self._enemy[nearest_enemy_id].get_current_position(), self._ball_params.get_current_position()) + 0.55, -0.55)
target_pos_xy = functions.calculate_internal_dividing_point_vector_args(config.GOAL_CENTER, self._ball_params.get_current_position(), 1, 1)
status.pid_goal_pos_x = target_pos_xy[0]
status.pid_goal_pos_y = target_pos_xy[1]
status.pid_goal_theta = math.atan2( (self._ball_params.get_current_position()[1] - robot.get_current_position()[1]) , (self._ball_params.get_current_position()[0] - robot.get_current_position()[0]) )
elif robot.get_role() == "RFW":
#フリーで最もゴールに近い敵idを返す
status.status = "move_linear"
free_enemy_id = self._get_free_enemy_id(4, nearest_enemy_id)
status.pid_goal_pos_x = (self._ball_params.get_current_position()[0] + self._enemy[free_enemy_id].get_current_position()[0]) / 2
status.pid_goal_pos_y = (self._ball_params.get_current_position()[1] + self._enemy[free_enemy_id].get_current_position()[1]) / 2
status.pid_goal_theta = math.atan2( (self._ball_params.get_current_position()[1] - robot.get_current_position()[1]) , (self._ball_params.get_current_position()[0] - robot.get_current_position()[0]) )
else:
status.status = "none"
self._dynamic_strategy.set_robot_status(robot_id, status)
result = self._dynamic_strategy
return result
def __init__(self, objects):
self._robot = objects.robot
self._enemy = objects.enemy
self._robot_ids = objects.get_robot_ids()
self._enemy_ids = objects.get_enemy_ids()
self._ball_params = objects.ball
self._dynamic_strategy = DynamicStrategy()
self._objects = objects
def __init__(self, objects):
# type: (Objects) -> None
self._objects = objects # type: Objects
self._robot = self._objects.robot # type: entity.
self._enemy = self._objects.enemy
self._ball_params = self._objects.ball
self._robot_ids = self._objects.get_robot_ids()
self._enemy_ids = self._objects.get_enemy_ids()
self.placed_ball_position = 0
# 毎ループnewするのは重いので辞書に格納しておく
self._static_strategies = {
'initial': InitialStaticStrategy(),
'stop': StopStaticStrategy()
}
self._dynamic_strategy = DynamicStrategy()
class PenaltyAttack(StrategyCalcuratorBase):
"""
referee_branchがDIRECT_FREE_ATTACKの場合のCalcurator。
"""
def __init__(self, objects):
self._objects = objects
self._robot = objects.robot
self._enemy = objects.enemy
self._robot_ids = objects.get_robot_ids()
self._enemy_ids = objects.get_enemy_ids()
self._dynamic_strategy = DynamicStrategy()
self._ball_params = objects.ball
self.reset()
def reset(self):
self.history_who_has_a_ball = ["robots" for i in range(10)]
def calcurate(self, strategy_context=None, should_wait=True):
#print "penalty"
if self._get_who_has_a_ball() == "free":
pass
elif self._get_who_has_a_ball() == "robots":
self.history_who_has_a_ball.pop(0)
self.history_who_has_a_ball.append("robots")
else:
self.history_who_has_a_ball.pop(0)
self.history_who_has_a_ball.append("enemy")
# if self.history_who_has_a_ball.count("enemy") > 5:
# strategy_context.update("penalty_finish", True, namespace="world_model")
# strategy_context.update("defence_or_attack", False, namespace="world_model")
active_robot_ids = self._get_active_robot_ids()
for robot_id in active_robot_ids:
status = Status()
robot = self._objects.get_robot_by_id(robot_id)
if robot.get_role() == "GK":
status.status = "keeper"
elif robot.get_role() == "LDF":
status.status = "defence4"
elif robot.get_role() == "RDF":
status.status = "defence3"
elif robot.get_role() == "LFW":
#敵kickerとballの延長線上に移動
status.status = "move_linear"
status.pid_goal_pos_x = 3.0
status.pid_goal_pos_y = 1.5
elif robot.get_role() == "RFW":
status.status = "move_linear"
status.pid_goal_pos_x = 3.0
status.pid_goal_pos_y = -1.5
else:
status.status = "none"
if robot_id == active_robot_ids[0]:
if should_wait:
status.status = "move_linear"
status.pid_goal_pos_x = 4.5
status.pid_goal_pos_y = 0.0
else:
status.status = "penalty_shoot"
if functions.distance_btw_two_points(
self._objects.ball.get_current_position(),
self._objects.get_robot_by_id(
robot_id).get_current_position()) > 1.0:
strategy_context.update("penalty_finish",
True,
namespace="world_model")
strategy_context.update("defence_or_attack",
False,
namespace="world_model")
self._dynamic_strategy.set_robot_status(robot_id, status)
result = self._dynamic_strategy
return result
class IndirectFreeAttack(StrategyCalcuratorBase):
"""
referee_branchがINDIRECT_FREE_BLUEで自分もBLUE、または
referee_branchがINDIRECT_FREE_YELLOWで自分もYELLOW の場合のCalcurator。
今回は決め打ちで作る
1. ボールの位置がハーフラインより手前にあるとき
Defenderの一番近い子がAttacker1(positions_1)にボールを蹴る Defenderは蹴ったあとは守備モード
Attacker1がAttacker2(positions_2)にボールを蹴る Attacker1はGoal側に走っておき(positions_3)、passモードにしておく(to Goal)
Attacker2はそのままシュート
2. ボールの位置がハーフラインより奥側にあるとき
Attacker1がAttacker2(positions_2)にボールを蹴る Attacker1はGoal側に走っておき(positions_3)、passモードにしておく(to Goal)
Attacker2はそのままシュート
"""
def __init__(self, objects):
self._objects = objects
self._robot = objects.robot
self._enemy = objects.enemy
self._robot_ids = objects.get_robot_ids()
self._enemy_ids = objects.get_enemy_ids()
self._dynamic_strategy = DynamicStrategy()
self._ball_params = objects.ball
self.reset()
def reset(self):
# パス先の決定
self._upper_positions_1 = [
[3.5, 2.5],
[3.5, 2.0],
[3.0, 2.0],
]
self._lower_positions_1 = [
[3.5, -2.5],
[3.5, -2.0],
[3.0, -2.0],
]
self._upper_positions_2 = [
[3.5, 2.5],
[3.5, 2.0],
[3.0, 2.0],
]
self._lower_positions_2 = [
[3.5, -2.5],
[3.5, -2.0],
[3.0, -2.0],
]
self._upper_positions_3 = [
[4.0, 0.5],
[4.0, 0.6],
[4.0, 0.4],
]
self._lower_positions_3 = [
[4.0, -0.5],
[4.0, -0.6],
[4.0, -0.4],
]
self.passed_1_flg = False
self.received_1_flg = False
self.passed_2_flg = False
self.received_2_flg = False
self.passed_3_flg = False
self.received_3_flg = False
self.history_who_has_a_ball = ["robots" for i in range(10)]
self.ball_position_x = self._objects.ball.get_current_position()[0]
self.ball_position_y = self._objects.ball.get_current_position()[1]
# ボールの位置が下側のときは受け手は上側にする、逆もまたしかり
# position_1はFW_1が行く場所 (ボールが2mラインより左側にいるときに利用する、右側の時は使わない)
# position2はFW2が行く場所
# position3はFW1がボールを蹴ったあとに行く場所
if self.ball_position_x <= 6.5:
if self.ball_position_y <= 0.:
positions_1 = self._upper_positions_1
positions_2 = self._lower_positions_2
positions_3 = self._upper_positions_3
else:
positions_1 = self._lower_positions_1
positions_2 = self._upper_positions_2
positions_3 = self._lower_positions_3
else:
if self.ball_position_y <= 0.:
positions_1 = False
positions_2 = self._upper_positions_2
positions_3 = self._lower_positions_3
else:
positions_1 = False
positions_2 = self._lower_positions_2
positions_3 = self._upper_positions_3
if positions_1:
choice_index = np.random.choice(len(positions_1))
self.position_1 = positions_1[choice_index]
else:
self.position_1 = False
choice_index = np.random.choice(len(positions_2))
self.position_2 = positions_2[choice_index]
choice_index = np.random.choice(len(positions_3))
self.position_3 = positions_3[choice_index]
roles = set([
self._robot[robot_id].get_role()
for robot_id in self._objects.get_active_robot_ids()
])
# position1 ~ position3の位置を決定
if self.position_1 and self.position_1[1] >= 0.:
self.position_1_nearest_id = self._objects.get_robot_id_by_role(
"LFW")
self.position_2_nearest_id = self._objects.get_robot_id_by_role(
"RFW")
if "LDF" in roles:
self.ball_position_nearest_id = self._objects.get_robot_id_by_role(
"LDF")
elif "RDF" in roles:
self.ball_position_nearest_id = self._objects.get_robot_id_by_role(
"RDF")
elif "GK" in roles:
self.ball_position_nearest_id = self._objects.get_robot_id_by_role(
"GK")
else:
self.ball_position_nearest_id = self._objects.get_robot_id_by_role(
"RFW")
else:
self.position_1_nearest_id = self._objects.get_robot_id_by_role(
"RFW")
self.position_2_nearest_id = self._objects.get_robot_id_by_role(
"LFW")
if "RDF" in roles:
self.ball_position_nearest_id = self._objects.get_robot_id_by_role(
"RDF")
elif "LDF" in roles:
self.ball_position_nearest_id = self._objects.get_robot_id_by_role(
"LDF")
elif "GK" in roles:
self.ball_position_nearest_id = self._objects.get_robot_id_by_role(
"GK")
else:
self.ball_position_nearest_id = self._objects.get_robot_id_by_role(
"RFW")
#self.position_2_nearest_id = self._objects.get_robot_ids_sorted_by_distance(self.position_2)[0]
#self.ball_position_nearest_id = self._objects.get_robot_ids_sorted_by_distance([self.ball_position_x, self.ball_position_y])[0]
self.GK_id = self._objects.get_robot_id_by_role("GK")
self.LDF_id = self._objects.get_robot_id_by_role("LDF")
self.RDF_id = self._objects.get_robot_id_by_role("RDF")
self.last_calcurate = "calcurate_1"
# indirect時、パスを回すか、shootをうつか
# ここから下はdirect用
self.ckl_flg = False
self.ckr_flg = False
# 蹴るターゲット
if "LFW" in roles and "RFW" in roles:
lr = ["LFW", "RFW"]
elif "LFW" in roles:
lr = ["LFW"]
elif "RFW" in roles:
lr = ["RFW"]
else:
lr = ["RFW"]
self.lfw_or_rfw = np.random.choice(lr)
def calcurate(self, strategy_context=None):
# type: (StrategyContext) -> StrategyBase
if self._get_who_has_a_ball() == "free":
pass
elif self._get_who_has_a_ball() == "robots":
self.history_who_has_a_ball.pop(0)
self.history_who_has_a_ball.append("robots")
else:
self.history_who_has_a_ball.pop(0)
self.history_who_has_a_ball.append("enemy")
if self.history_who_has_a_ball.count("enemy") > 5:
strategy_context.update("indirect_finish",
True,
namespace="world_model")
strategy_context.update("defence_or_attack",
False,
namespace="world_model")
if self._objects.ball.get_current_position()[1] >= 0.:
result = self.calculate_indirect_left()
else:
result = self.calculate_indirect_right()
return result
def calculate_1(self, strategy_context=None):
# print 'passed_1_flg:', self.passed_1_flg
# print 'received_1_flg:', self.received_1_flg
# print 'passed_2_flg:',self.passed_2_flg
# print 'received_2_flg:', self.received_2_flg
# print 'passed_3_flg:', self.passed_3_flg
# print 'received_3_flg:', self.received_3_flg
"""ハーフラインより左側の戦略（の予定）"""
ball_x, ball_y = self._objects.ball.get_current_position()
active_enemy_ids = self._get_active_enemy_ids()
nearest_enemy_id = self._objects.get_enemy_ids_sorted_by_distance_to_ball(
active_enemy_ids)[0]
for robot_id in self._robot_ids:
status = Status()
robot = self._objects.get_robot_by_id(robot_id)
if self.ball_position_nearest_id == robot_id:
if self.passed_1_flg:
# パス完了した場合
if self._objects.robot[robot_id].get_role() == "LDF":
status.status = "defence4"
else:
status.status = "defence3"
else:
# パス完了する前 パス先をposition1にする、パス完了したら完了flgを立てる
status.status = "pass"
status.pass_target_pos_x = self._objects.get_robot_by_id(
self.position_1_nearest_id).get_current_position()[0]
status.pass_target_pos_y = self._objects.get_robot_by_id(
self.position_1_nearest_id).get_current_position()[1]
if self._objects.get_has_a_ball(robot_id):
self.received_1_flg = True
if self.received_1_flg and self._objects.get_has_a_ball(
robot_id) == False:
self.passed_1_flg = True
elif robot_id == self.position_1_nearest_id:
if self.received_3_flg:
#シュートを打つ子がボールを受け取ったあとはこの機体もシュート体制に入る(おこぼれを狙うイメージ)
#status.status = "pass"
if self.position_2[1] > 0.:
status.status = "shoot_left"
# status.pass_target_pos_x = 6.0
# status.pass_target_pos_y = 0.55
else:
status.status = "shoot_right"
# status.pass_target_pos_x = 6.0
# status.pass_target_pos_y = -0.55
elif self.passed_2_flg:
# 自分がパスしたあとはゴール前のposition_3に移動
status.status = "move_linear"
status.pid_goal_pos_x = self.position_1[0]
status.pid_goal_pos_y = self.position_1[1]
status.pid_goal_theta = 0.
elif self.received_2_flg:
# レシーブしたあとはパスに切り替え
status.status = "pass"
status.pass_target_pos_x = self._objects.get_robot_by_id(
self.position_2_nearest_id).get_current_position()[0]
status.pass_target_pos_y = self._objects.get_robot_by_id(
self.position_2_nearest_id).get_current_position()[1]
if self._objects.get_has_a_ball(self.position_2_nearest_id,
threshold=0.20) == True:
self.passed_2_flg
else:
status.status = "receive"
status.pid_goal_pos_x = self.position_1[0]
status.pid_goal_pos_y = self.position_1[1]
if self._objects.get_has_a_ball(robot_id):
self.received_2_flg = True
elif robot_id == self.position_2_nearest_id:
if self.passed_3_flg:
status.status = "move_linear"
if nearest_enemy_id != None:
status.pid_goal_pos_x, status.pid_goal_pos_y = functions.calculate_internal_dividing_point(
self._enemy[nearest_enemy_id].get_current_position(
)[0],
self._enemy[nearest_enemy_id].get_current_position(
)[1],
self._ball_params.get_current_position()[0],
self._ball_params.get_current_position()[1],
functions.distance_btw_two_points(
self._enemy[nearest_enemy_id].
get_current_position(),
self._ball_params.get_current_position()) +
0.55, -0.55)
status.pid_goal_theta = math.atan2(
(self._ball_params.get_current_position()[1] -
robot.get_current_position()[1]),
(self._ball_params.get_current_position()[0] -
robot.get_current_position()[0]))
elif self.received_3_flg:
# status.status = "pass"
if self.position_3[1] > 0.:
status.status = "shoot_left"
# status.pass_target_pos_x = 6.0
# status.pass_target_pos_y = 0.55
else:
status.status = "shoot_right"
# status.pass_target_pos_x = 6.0
# status.pass_target_pos_y = -0.55
if self._objects.get_has_a_ball(robot_id) == False:
self.passed_3_flg = True
else:
status.status = "receive"
status.pid_goal_pos_x = self.position_2[0]
status.pid_goal_pos_y = self.position_2[1]
if self._objects.get_has_a_ball(robot_id):
self.received_3_flg = True
elif robot_id == self.GK_id:
status.status = "keeper"
elif robot.get_role() == "LDF":
status.status = "defence4"
elif robot.get_role() == "RDF":
status.status = "defence3"
else:
print 'error'
self._dynamic_strategy.set_robot_status(robot_id, status)
return self._dynamic_strategy
def calculate_defense(self, strategy_context=None):
# type: (StrategyContext) -> StrategyBase
active_robot_ids = self._get_active_robot_ids()
active_enemy_ids = self._get_active_enemy_ids()
status = Status()
nearest_enemy_id = self._objects.get_enemy_ids_sorted_by_distance_to_ball(
active_enemy_ids)[0]
for robot_id in active_robot_ids:
robot = self._objects.get_robot_by_id(robot_id)
if robot.get_role() == "GK":
status.status = "keeper"
elif robot.get_role() == "LDF":
status.status = "defence4"
elif robot.get_role() == "RDF":
status.status = "defence3"
elif robot.get_role() == "LFW":
#敵kickerとballの延長線上に移動
status.status = "move_linear"
if nearest_enemy_id != None:
status.pid_goal_pos_x, status.pid_goal_pos_y = functions.calculate_internal_dividing_point(
self._enemy[nearest_enemy_id].get_current_position()
[0],
self._enemy[nearest_enemy_id].get_current_position()
[1],
self._ball_params.get_current_position()[0],
self._ball_params.get_current_position()[1],
functions.distance_btw_two_points(
self._enemy[nearest_enemy_id].get_current_position(
), self._ball_params.get_current_position()) +
0.55, -0.55)
status.pid_goal_theta = math.atan2(
(self._ball_params.get_current_position()[1] -
self._robot[3].get_current_position()[1]),
(self._ball_params.get_current_position()[0] -
self._robot[2].get_current_position()[0]))
elif robot.get_role() == "RFW":
#フリーで最もゴールに近い敵idを返す
status.status = "move_linear"
free_enemy_id = self._get_free_enemy_id(4, nearest_enemy_id)
status.pid_goal_pos_x = (
self._ball_params.get_current_position()[0] +
self._enemy[free_enemy_id].get_current_position()[0]) / 2
status.pid_goal_pos_y = (
self._ball_params.get_current_position()[1] +
self._enemy[free_enemy_id].get_current_position()[1]) / 2
status.pid_goal_theta = math.atan2(
(self._ball_params.get_current_position()[1] -
self._robot[4].get_current_position()[1]),
(self._ball_params.get_current_position()[0] -
self._robot[4].get_current_position()[0]))
else:
status.status = "none"
self._dynamic_strategy.set_robot_status(robot_id, status)
result = self._dynamic_strategy
return result
def calculate_indirect_left(self, strategy_context=None):
active_robot_ids = self._get_active_robot_ids()
for robot_id in active_robot_ids:
status = Status()
robot = self._objects.get_robot_by_id(robot_id)
if self.ball_position_nearest_id == robot_id:
if self.passed_1_flg:
# パス完了した場合
if self._objects.robot[robot_id].get_role() == "LDF":
status.status = "defence4"
else:
status.status = "defence3"
else:
# パス完了する前 パス先をposition1にする、パス完了したら完了flgを立てる
status.status = "pass"
status.pass_target_pos_x = self._objects.get_robot_by_role(
self.lfw_or_rfw).get_current_position()[0]
status.pass_target_pos_y = self._objects.get_robot_by_role(
self.lfw_or_rfw).get_current_position()[1]
if self._objects.get_has_a_ball(robot_id):
self.received_1_flg = True
if self.received_1_flg and self._objects.get_has_a_ball(
robot_id) == False:
self.passed_1_flg = True
elif robot_id == self.position_1_nearest_id:
position = self.position_3
if self.received_2_flg:
status.status = "shoot_right"
if self._objects.get_has_a_ball(robot_id) == False:
self.passed_2_flg = True
else:
status.status = "receive"
status.pid_goal_pos_x = position[0]
status.pid_goal_pos_y = position[1]
if self._objects.get_has_a_ball(robot_id):
self.received_2_flg = True
elif robot_id == self.position_2_nearest_id:
position = self.position_2
if self.received_3_flg:
status.status = "shoot_left"
if self._objects.get_has_a_ball(robot_id) == False:
self.passed_3_flg = True
else:
status.status = "receive"
status.pid_goal_pos_x = position[0]
status.pid_goal_pos_y = position[1]
if self._objects.get_has_a_ball(robot_id):
self.received_3_flg = True
elif robot.get_role() == "GK":
status.status = "keeper"
elif robot.get_role() == "LDF":
status.status = "defence4"
elif robot.get_role() == "RDF":
status.status = "defence3"
else:
status.status = "none"
self._dynamic_strategy.set_robot_status(robot_id, status)
result = self._dynamic_strategy
return result
def calculate_indirect_right(self, strategy_context=None):
active_robot_ids = self._get_active_robot_ids()
for robot_id in active_robot_ids:
status = Status()
robot = self._objects.get_robot_by_id(robot_id)
if self.ball_position_nearest_id == robot_id:
if self.passed_1_flg:
# パス完了した場合
if self._objects.robot[robot_id].get_role() == "LDF":
status.status = "defence4"
else:
status.status = "defence3"
else:
# パス完了する前 パス先をposition1にする、パス完了したら完了flgを立てる
status.status = "pass"
status.pass_target_pos_x = self._objects.get_robot_by_role(
self.lfw_or_rfw).get_current_position()[0]
status.pass_target_pos_y = self._objects.get_robot_by_role(
self.lfw_or_rfw).get_current_position()[1]
if self._objects.get_has_a_ball(robot_id):
self.received_1_flg = True
if self.received_1_flg and self._objects.get_has_a_ball(
robot_id) == False:
self.passed_1_flg = True
elif robot_id == self.position_1_nearest_id:
position = self.position_3
if self.received_2_flg:
status.status = "shoot_left"
if self._objects.get_has_a_ball(robot_id) == False:
self.passed_2_flg = True
else:
status.status = "receive"
status.pid_goal_pos_x = position[0]
status.pid_goal_pos_y = position[1]
if self._objects.get_has_a_ball(robot_id):
self.received_2_flg = True
elif robot_id == self.position_2_nearest_id:
position = self.position_2
if self.received_3_flg:
status.status = "shoot_right"
if self._objects.get_has_a_ball(robot_id) == False:
self.passed_3_flg = True
else:
status.status = "receive"
status.pid_goal_pos_x = position[0]
status.pid_goal_pos_y = position[1]
if self._objects.get_has_a_ball(robot_id):
self.received_3_flg = True
elif robot.get_role() == "GK":
status.status = "keeper"
elif robot.get_role() == "LDF":
status.status = "defence4"
elif robot.get_role() == "RDF":
status.status = "defence3"
else:
status.status = "none"
self._dynamic_strategy.set_robot_status(robot_id, status)
result = self._dynamic_strategy
return result
class NormalStartPenaltyDefenceStrategyCalcurator(StrategyCalcuratorBase):
"""
referee_branchがPENALTY_DEFENCEの場合のCalcurator。
"""
def __init__(self, objects):
self._robot = objects.robot
self._enemy = objects.enemy
self._robot_ids = objects.get_robot_ids()
self._enemy_ids = objects.get_enemy_ids()
self._ball_params = objects.ball
self._dynamic_strategy = DynamicStrategy()
self._objects = objects
def calcurate(self, strategy_context=None, referee_branch="PENALTY_DEFENCE"):
# type: (StrategyContext) -> StrategyBase
if referee_branch == "NORMAL_START":
if self._detect_enemy_kick(strategy_context):
strategy_context.update("enemy_kick", True, namespace="world_model")
strategy_context.update("defence_or_attack", False, namespace="world_model")
else:
strategy_context.update("placed_ball_position", self._ball_params.get_current_position(), namespace="world_model")
active_robot_ids = self._get_active_robot_ids()
active_enemy_ids = self._get_active_enemy_ids()
nearest_enemy_id = self._objects.get_enemy_ids_sorted_by_distance_to_ball(active_enemy_ids)[0]
for robot_id in active_robot_ids:
status = Status()
robot = self._objects.get_robot_by_id(robot_id)
if robot.get_role() == "GK":
status.status = "keeper"
elif robot.get_role() == "LDF":
#固定値へ移動
status.status = "move_linear"
status.pid_goal_pos_x = -4.0
status.pid_goal_pos_y = 4.0
status.pid_goal_theta = math.atan2((self._ball_params.get_current_position()[1] - robot.get_current_position()[1]) , (self._ball_params.get_current_position()[0] - robot.get_current_position()[0]))
elif robot.get_role() == "RDF":
#固定値へ移動
status.status = "move_linear"
status.pid_goal_pos_x = -3.5
status.pid_goal_pos_y = 4.0
status.pid_goal_theta = math.atan2((self._ball_params.get_current_position()[1] - robot.get_current_position()[1]) , (self._ball_params.get_current_position()[0] - robot.get_current_position()[0]))
elif robot.get_role() == "LFW":
#固定値へ移動
status.status = "move_linear"
status.pid_goal_pos_x = -3.0
status.pid_goal_pos_y = 4.0
status.pid_goal_theta = math.atan2((self._ball_params.get_current_position()[1] - robot.get_current_position()[1]) , (self._ball_params.get_current_position()[0] - robot.get_current_position()[0]))
elif robot.get_role() == "RFW":
#固定値へ移動
status.status = "move_linear"
status.pid_goal_pos_x = -2.5
status.pid_goal_pos_y = 4.0
status.pid_goal_theta = math.atan2((self._ball_params.get_current_position()[1] - robot.get_current_position()[1]) , (self._ball_params.get_current_position()[0] - robot.get_current_position()[0]))
else:
status.status = "none"
self._dynamic_strategy.set_robot_status(robot_id, status)
result = self._dynamic_strategy
return result
class NormalStartKickOffDefenceStrategyCalcurator(StrategyCalcuratorBase):
"""
referee_branchがKICKOFF_DEFENCEの場合のCalcurator。
"""
def __init__(self, objects):
self._robot = objects.robot
self._enemy = objects.enemy
self._robot_ids = objects.get_robot_ids()
self._enemy_ids = objects.get_enemy_ids()
self._ball_params = objects.ball
self._dynamic_strategy = DynamicStrategy()
self._objects = objects
def calcurate(self, strategy_context=None, referee_branch="KICKOFF_DEFENCE"):
# type: (StrategyContext) -> StrategyBase
if referee_branch == "NORMAL_START":
if self._detect_enemy_kick(strategy_context):
strategy_context.update("enemy_kick", True, namespace="world_model")
strategy_context.update("defence_or_attack", False, namespace="world_model")
else:
strategy_context.update("placed_ball_position", self._ball_params.get_current_position(), namespace="world_model")
active_robot_ids = self._get_active_robot_ids()
active_enemy_ids = self._get_active_enemy_ids()
status = Status()
nearest_enemy_id = self._objects.get_enemy_ids_sorted_by_distance_to_ball(active_enemy_ids)[0]
for idx, robot_id in enumerate(active_robot_ids):
robot = self._objects.get_robot_by_id(robot_id)
if robot.get_role() == "GK":
status.status = "keeper"
elif robot.get_role() == "LDF":
status.status = "defence4"
elif robot.get_role() == "RDF":
status.status = "defence3"
elif robot.get_role() == "LFW":
#敵kickerとballの延長線上に移動
status.status = "move_linear"
if nearest_enemy_id != None:
status.pid_goal_pos_x, status.pid_goal_pos_y = functions.calculate_internal_dividing_point(
self._objects.get_enemy_by_id(nearest_enemy_id).get_current_position()[0],
self._objects.get_enemy_by_id(nearest_enemy_id).get_current_position()[1],
self._ball_params.get_current_position()[0],
self._ball_params.get_current_position()[1],
functions.distance_btw_two_points(self._objects.get_enemy_by_id(nearest_enemy_id).get_current_position(),
self._ball_params.get_current_position()) + 0.8,
-0.8)
status.pid_goal_theta = math.atan2((self._ball_params.get_current_position()[1] - robot.get_current_position()[1]) , (self._ball_params.get_current_position()[0] - robot.get_current_position()[0]))
if status.pid_goal_pos_x >= -0.2 and status.pid_goal_pos_y >= 0:
status.pid_goal_pos_x = -0.2
status.pid_goal_pos_y = 0.8
elif status.pid_goal_pos_x >= -0.2 and status.pid_goal_pos_y < 0:
status.pid_goal_pos_x = -0.2
status.pid_goal_pos_y = -0.8
elif robot.get_role() == "RFW":
#固定位置
status.status = "move_linear"
free_enemy_id = self._get_free_enemy_id(4, nearest_enemy_id)
status.pid_goal_pos_x = -3.
status.pid_goal_pos_y = 0.
status.pid_goal_theta = math.atan2( (self._ball_params.get_current_position()[1] - robot.get_current_position()[1]) , (self._ball_params.get_current_position()[0] - robot.get_current_position()[0]) )
else:
status.status = "none"
self._dynamic_strategy.set_robot_status(robot_id, status)
result = self._dynamic_strategy
return result