def calculateTimeToReachPose(myPos, myHeading, targetPos, targetHeading=None):
toTarget = targetPos.minus(myPos)
toTargetHeading = math.atan2(toTarget.y, toTarget.x)
# How far we need to turn to point at the targetPos
toTargetTurn = abs(MathUtil.normalisedTheta(toTargetHeading - myHeading))
# The straightline distance to walk to the targetPos
toTargetDistance = toTarget.length()
# How far we need to turn once we get to the targetPos so that we are facing the targetHeading
if targetHeading is None:
toTargetHeadingTurn = 0.0
else:
toTargetHeadingTurn = abs(MathUtil.normalisedTheta(toTargetHeading - targetHeading))
# approximate time it takes to avoid robots on the way
avoidTime = 0
if toTargetDistance > 400 :
robots = Global.robotObstaclesList()
for robot in robots:
robotPos = Vector2D.makeVector2DCopy(robot.pos)
toRobot = robotPos.minus(myPos)
dist = toRobot.length()
heading = abs(MathUtil.normalisedTheta(toRobot.heading() - toTargetHeading))
# further away robots are less relevant
distValue = min(1, dist / toTargetDistance)
# robots aren't in the way are less relevant
headingValue = min(1, heading / (math.pi/2))
# heading is more relevant than distance, has enough weighting to revert striker bonus time
combinedValue = (1 - distValue ** 4)*(1 - headingValue ** 2) * 3
if combinedValue > avoidTime :
avoidTime = combinedValue
return toTargetTurn/TURN_RATE + toTargetDistance/WALK_RATE + toTargetHeadingTurn/CIRCLE_STRAFE_RATE + avoidTime
def _tick(self, x, y, theta, urgency=0, keepFacing=False, relative=False, useAvoidance=True, useOnlySonarAvoid=False):
urgency = min(1.0, urgency)
self.keepFacing = keepFacing
# Convert everything to relative.
if relative:
vectorToTarget = Vector2D.Vector2D(x, y)
facingTurn = theta
else:
vectorToTarget, facingTurn = FieldGeometry.globalPoseToRobotRelativePose(Vector2D.Vector2D(x, y), theta)
facingTurn = MathUtil.normalisedTheta(facingTurn)
self.currentTarget = vectorToTarget
targetHeading = MathUtil.normalisedTheta(vectorToTarget.heading())
# forward/left are used for final adjustments, rotate to mean pos after the turn is made
if vectorToTarget.isShorterThan(400) or keepFacing:
forward = vectorToTarget.x * cos(-facingTurn) - vectorToTarget.y * sin(-facingTurn)
left = vectorToTarget.x * sin(-facingTurn) + vectorToTarget.y * cos(-facingTurn)
else:
forward = vectorToTarget.x
left = vectorToTarget.y
self.currentState.urgency = urgency
self.currentState.tick(forward, left, targetHeading, facingTurn)
def _tick(self,
x,
y,
theta,
urgency=0,
keepFacing=False,
relative=False,
useAvoidance=True,
extraObstacles=[]):
# LedOverride.override(LedOverride.leftEye, Constants.LEDColour.off)
# LedOverride.override(LedOverride.rightEye, Constants.LEDColour.off)
self.keepFacing = keepFacing
# Save destination for walkingTo
self.world.b_request.walkingToX = int(x)
self.world.b_request.walkingToY = int(y)
if relative:
new = FieldGeometry.addRrToRobot(Global.myPose(), x, y)
self.world.b_request.walkingToX = int(new[0])
self.world.b_request.walkingToY = int(new[1])
# Convert everything to relative.
if relative:
vectorToTarget = Vector2D.Vector2D(x, y)
facingTurn = theta
else:
for i in range(0, len(extraObstacles)):
extraObstacles[
i] = FieldGeometry.globalPointToRobotRelativePoint(
extraObstacles[i])
vectorToTarget, facingTurn = FieldGeometry.globalPoseToRobotRelativePose(
Vector2D.Vector2D(x, y), theta)
# always keep heading the same after avoidance
facingTurn = MathUtil.normalisedTheta(facingTurn)
targetHeading = MathUtil.normalisedTheta(vectorToTarget.heading())
if useAvoidance:
vectorToTarget = self.calculateDestinationViaObstacles(
vectorToTarget, extraObstacles)
# avoidance doesn't change which way robot's facing
self.currentTarget = vectorToTarget
forward = vectorToTarget.x
left = vectorToTarget.y
self.currentState.urgency = urgency
# myPose = Global.myPose()
# print "Pos: (%5.0f, %5.0f < %2.2f) - CurrTarget: (%5.0f, %5.0f < %2.2f) fac?%s, rel?%s, flt: (%4.0f, %4.0f < T%2.2f, F%2.2f)" % (
# myPose.x, myPose.y, degrees(myPose.theta), x, y, degrees(theta), "Y" if keepFacing else "N", "Y" if relative else "N", forward, left, degrees(targetHeading), degrees(facingTurn)
# )
self.currentState.tick(forward, left, targetHeading, facingTurn)
def getBallIntersectionWithRobot(maintainCanSeeBall=True):
intervalInSeconds = 1
numSecondsForward = 1.0 # Estimate the ball position up to 1 second away
numIterations = int(round(numSecondsForward / intervalInSeconds))
FRICTION = 0.9 # friction per second
FRICTION_PER_ITERATION = FRICTION**intervalInSeconds
ballVel = Global.ballWorldVelHighConfidence()
ballPos = Global.ballWorldPos()
myHeading = Global.myHeading()
# If he ball is moving slowly, just chase the ball directly
if ballVel.isShorterThan(10.0):
return ballPos
# Dont bother chasing a moving ball if its quite close.
if Global.ballDistance() < 600.0:
return ballPos
ballVel.scale(intervalInSeconds)
robotPos = Global.myPos()
interceptPoint = ballPos
bestChasePoint = ballPos.clone()
seconds = 0.0
for i in xrange(0, numIterations):
seconds += intervalInSeconds
interceptPoint.add(ballVel)
ballVel.scale(FRICTION_PER_ITERATION)
toIntercept = interceptPoint.minus(robotPos)
toInterceptHeading = math.atan2(toIntercept.y, toIntercept.x)
# How far we need to turn to point at the interceptPoint
toInterceptTurn = abs(
MathUtil.normalisedTheta(toInterceptHeading - myHeading))
timeToTurn = toInterceptTurn / TURN_RATE
timeToWalk = toIntercept.length() / WALK_RATE
canReach = (timeToTurn + timeToWalk) <= seconds
# Calculate difference in heading to the current ball position and the intersect position
# to make sure we don't turn too far and lose sight of the ball
v1 = interceptPoint.minus(robotPos).normalised()
v2 = ballPos.minus(robotPos).normalised()
heading = v1.absThetaTo(v2)
if maintainCanSeeBall and heading > math.radians(75):
return bestChasePoint
if canReach:
return bestChasePoint
else:
bestChasePoint = Vector2D.makeVector2DCopy(interceptPoint)
return bestChasePoint
def getBallIntersectionWithRobot(maintainCanSeeBall = True):
intervalInSeconds = 1
numSecondsForward = 1.0 # Estimate the ball position up to 1 second away
numIterations = int(round(numSecondsForward / intervalInSeconds))
FRICTION = 0.9 # friction per second
FRICTION_PER_ITERATION = FRICTION ** intervalInSeconds
ballVel = Global.ballWorldVelHighConfidence()
ballPos = Global.ballWorldPos()
myHeading = Global.myHeading()
# If he ball is moving slowly, just chase the ball directly
if ballVel.isShorterThan(10.0):
return ballPos
# Dont bother chasing a moving ball if its quite close.
if Global.ballDistance() < 600.0:
return ballPos
ballVel.scale(intervalInSeconds)
robotPos = Global.myPos()
interceptPoint = ballPos
bestChasePoint = ballPos.clone()
seconds = 0.0
for i in xrange(0, numIterations):
seconds += intervalInSeconds
interceptPoint.add(ballVel)
ballVel.scale(FRICTION_PER_ITERATION)
toIntercept = interceptPoint.minus(robotPos)
toInterceptHeading = math.atan2(toIntercept.y, toIntercept.x)
# How far we need to turn to point at the interceptPoint
toInterceptTurn = abs(MathUtil.normalisedTheta(toInterceptHeading - myHeading))
timeToTurn = toInterceptTurn / TURN_RATE
timeToWalk = toIntercept.length() / WALK_RATE
canReach = (timeToTurn + timeToWalk) <= seconds
# Calculate difference in heading to the current ball position and the intersect position
# to make sure we don't turn too far and lose sight of the ball
v1 = interceptPoint.minus(robotPos).normalised()
v2 = ballPos.minus(robotPos).normalised()
heading = v1.absThetaTo(v2)
if maintainCanSeeBall and heading > math.radians(75):
return bestChasePoint
if canReach:
return bestChasePoint
else:
bestChasePoint = Vector2D.makeVector2DCopy(interceptPoint)
return bestChasePoint
def calculateTimeToReachPose(myPos, myHeading, targetPos, targetHeading=None):
toTarget = targetPos.minus(myPos)
toTargetHeading = math.atan2(toTarget.y, toTarget.x)
# How far we need to turn to point at the targetPos
toTargetTurn = abs(MathUtil.normalisedTheta(toTargetHeading - myHeading))
# The straightline distance to walk to the targetPos
toTargetDistance = toTarget.length()
# How far we need to turn once we get to the targetPos so that we are facing the targetHeading
if targetHeading is None:
toTargetHeadingTurn = 0.0
else:
toTargetHeadingTurn = abs(MathUtil.normalisedTheta(toTargetHeading - targetHeading))
return toTargetTurn/TURN_RATE + toTargetDistance/WALK_RATE + toTargetHeadingTurn/CIRCLE_STRAFE_RATE
def calculateTimeToReachBall():
opponentGoal = ENEMY_GOAL_CENTER
interceptPoint = getBallIntersectionWithRobot(maintainCanSeeBall=False)
interceptToGoal = opponentGoal.minus(interceptPoint)
interceptToGoalHeading = MathUtil.normalisedTheta(
math.atan2(interceptToGoal.y, interceptToGoal.x))
return calculateTimeToReachPose(Global.myPos(), Global.myHeading(),
interceptPoint, interceptToGoalHeading)
def calculateTimeToReachPose(myPos, myHeading, targetPos, targetHeading=None):
toTarget = targetPos.minus(myPos)
toTargetHeading = math.atan2(toTarget.y, toTarget.x)
# How far we need to turn to point at the targetPos
toTargetTurn = abs(MathUtil.normalisedTheta(toTargetHeading - myHeading))
# The straightline distance to walk to the targetPos
toTargetDistance = toTarget.length()
# How far we need to turn once we get to the targetPos so that we are facing the targetHeading
if targetHeading is None:
toTargetHeadingTurn = 0.0
else:
toTargetHeadingTurn = abs(
MathUtil.normalisedTheta(toTargetHeading - targetHeading))
return toTargetTurn / TURN_RATE + toTargetDistance / WALK_RATE + toTargetHeadingTurn / CIRCLE_STRAFE_RATE
def _tick(self,
x,
y,
theta,
urgency=0,
keepFacing=False,
relative=False,
useAvoidance=True,
useOnlySonarAvoid=False):
urgency = min(1.0, urgency)
self.keepFacing = keepFacing
# Convert everything to relative.
if relative:
vectorToTarget = Vector2D.Vector2D(x, y)
facingTurn = theta
else:
vectorToTarget, facingTurn = FieldGeometry.globalPoseToRobotRelativePose(
Vector2D.Vector2D(x, y), theta)
facingTurn = MathUtil.normalisedTheta(facingTurn)
self.currentTarget = vectorToTarget
targetHeading = MathUtil.normalisedTheta(vectorToTarget.heading())
# forward/left are used for final adjustments, rotate to mean pos after the turn is made
if vectorToTarget.isShorterThan(400) or keepFacing:
forward = vectorToTarget.x * cos(
-facingTurn) - vectorToTarget.y * sin(-facingTurn)
left = vectorToTarget.x * sin(
-facingTurn) + vectorToTarget.y * cos(-facingTurn)
else:
forward = vectorToTarget.x
left = vectorToTarget.y
self.currentState.urgency = urgency
self.currentState.tick(forward, left, targetHeading, facingTurn)
def calculateTimeToReachPose(myPos, myHeading, targetPos, targetHeading=None):
toTarget = targetPos.minus(myPos)
toTargetHeading = math.atan2(toTarget.y, toTarget.x)
# How far we need to turn to point at the targetPos
toTargetTurn = abs(MathUtil.normalisedTheta(toTargetHeading - myHeading))
# The straightline distance to walk to the targetPos
toTargetDistance = toTarget.length()
# How far we need to turn once we get to the targetPos so that we are facing the targetHeading
if targetHeading is None:
toTargetHeadingTurn = 0.0
else:
toTargetHeadingTurn = abs(
MathUtil.normalisedTheta(toTargetHeading - targetHeading))
# approximate time it takes to avoid robots on the way
avoidTime = 0
if toTargetDistance > 400:
robots = Global.robotObstaclesList()
for robot in robots:
robotPos = Vector2D.makeVector2DCopy(robot.pos)
toRobot = robotPos.minus(myPos)
dist = toRobot.length()
heading = abs(
MathUtil.normalisedTheta(toRobot.heading() - toTargetHeading))
# further away robots are less relevant
distValue = min(1, dist / toTargetDistance)
# robots aren't in the way are less relevant
headingValue = min(1, heading / (math.pi / 2))
# heading is more relevant than distance, has enough weighting to revert striker bonus time
combinedValue = (1 - distValue**4) * (1 - headingValue**2) * 3
if combinedValue > avoidTime:
avoidTime = combinedValue
return toTargetTurn / TURN_RATE + toTargetDistance / WALK_RATE + toTargetHeadingTurn / CIRCLE_STRAFE_RATE + avoidTime
def angleToTeamBallToGoal(teamBallPos, robotPos):
heading = MathUtil.normalisedTheta(
math.atan2(teamBallPos.y - robotPos.y, teamBallPos.x - robotPos.x))
goalDir = angleToGoal(teamBallPos)
return MathUtil.normalisedTheta(goalDir - (robotPos.theta + heading))
def angleToGoalRight(absCoord):
phi = Vector2D.angleBetween(ENEMY_GOAL_INNER_RIGHT,
Vector2D.makeVector2DCopy(absCoord))
return MathUtil.normalisedTheta(phi)
def angleToOwnGoal(absCoord):
phi = Vector2D.angleBetween(OWN_GOAL_BEHIND_CENTER,
Vector2D.makeVector2DCopy(absCoord))
return MathUtil.normalisedTheta(phi)
def angleToBallToOwnGoal(absCoord):
ball = blackboard.localisation.ballPos
ballRR = blackboard.localisation.ballPosRR
goalDir = angleToOwnGoal(ball)
return MathUtil.normalisedTheta(goalDir -
(absCoord.theta + ballRR.heading))
def angleToGoalRight(absCoord): phi = Vector2D.angleBetween(ENEMY_GOAL_INNER_RIGHT, Vector2D.makeVector2DCopy(absCoord)) return MathUtil.normalisedTheta(phi)
def angleToPenalty(absCoord):
phi = Vector2D.angleBetween(ENEMY_PENALTY_CENTER,
Vector2D.makeVector2DCopy(absCoord))
return MathUtil.normalisedTheta(phi)
def ballAngleToPoint(point): ballPos = blackboard.localisation.ballPos return MathUtil.normalisedTheta(math.atan2(point[1] - ballPos.y, point[0] - ballPos.x))
def myAngleToGoalShot(commitToKick=Kick.MIDDLE): goalAngle = angleToGoalShot(Global.ballWorldPos(), Global.myPose(), blackboard.localisation.robotObstacles, commitToKick) return (MathUtil.normalisedTheta(goalAngle[0] - Global.myHeading()), goalAngle[2])
def myAngleToGoalShot(commitToKick=Kick.MIDDLE):
goalAngle = angleToGoalShot(Global.ballWorldPos(), Global.myPose(),
blackboard.localisation.robotObstacles,
commitToKick)
return (MathUtil.normalisedTheta(goalAngle[0] - Global.myHeading()),
goalAngle[2])
def angleBetweenBallAndGoalCenter(): ballPos = blackboard.localisation.ballPos ballVec = Vector2D.Vector2D(ballPos.x, ballPos.y) goalCenter = OWN_GOAL_CENTER phi = Vector2D.angleBetween(ballVec, goalCenter) return MathUtil.normalisedTheta(phi)
def calculateTimeToReachBall(): opponentGoal = ENEMY_GOAL_CENTER interceptPoint = getBallIntersectionWithRobot(maintainCanSeeBall = False) interceptToGoal = opponentGoal.minus(interceptPoint) interceptToGoalHeading = MathUtil.normalisedTheta(math.atan2(interceptToGoal.y, interceptToGoal.x)) return calculateTimeToReachPose(Global.myPos(), Global.myHeading(), interceptPoint, interceptToGoalHeading)
def angleToOwnGoal(absCoord): phi = Vector2D.angleBetween(OWN_GOAL_BEHIND_CENTER, Vector2D.makeVector2DCopy(absCoord)) return MathUtil.normalisedTheta(phi)
def angleToBallToOwnGoal(absCoord): ball = blackboard.localisation.ballPos ballRR = blackboard.localisation.ballPosRR goalDir = angleToOwnGoal(ball) return MathUtil.normalisedTheta(goalDir - (absCoord.theta + ballRR.heading))
def ballAngleToPoint(point):
ballPos = blackboard.localisation.ballPos
return MathUtil.normalisedTheta(
math.atan2(point[1] - ballPos.y, point[0] - ballPos.x))
def angleToPenalty(absCoord): phi = Vector2D.angleBetween(ENEMY_PENALTY_CENTER, Vector2D.makeVector2DCopy(absCoord)) return MathUtil.normalisedTheta(phi)
def angleBetweenBallAndGoalCenter():
ballPos = blackboard.localisation.ballPos
ballVec = Vector2D.Vector2D(ballPos.x, ballPos.y)
goalCenter = OWN_GOAL_CENTER
phi = Vector2D.angleBetween(ballVec, goalCenter)
return MathUtil.normalisedTheta(phi)
def angleToPoint(point, absCoord):
phi = Vector2D.angleBetween(point, Vector2D.makeVector2DCopy(absCoord))
return MathUtil.normalisedTheta(phi)
def angleToPoint(point, absCoord): phi = Vector2D.angleBetween(point, Vector2D.makeVector2DCopy(absCoord)) return MathUtil.normalisedTheta(phi)
def angleToTeamBallToGoal(teamBallPos, robotPos): heading = MathUtil.normalisedTheta(math.atan2(teamBallPos.y - robotPos.y, teamBallPos.x - robotPos.x)) goalDir = angleToGoal(teamBallPos) return MathUtil.normalisedTheta(goalDir - (robotPos.theta + heading))
