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190 | #ifndef ROLEDECISIONDYNAMIC_H
#define ROLEDECISIONDYNAMIC_H
#include <functional>
#include <ModuleFramework/Module.h>
#include "Representations/Infrastructure/FrameInfo.h"
#include "Representations/Infrastructure/FieldInfo.h"
#include "Representations/Infrastructure/GameData.h"
#include "Representations/Infrastructure/Roles.h"
#include "Representations/Modeling/TeamMessage.h"
#include "Representations/Modeling/TeamMessageData.h"
#include "Representations/Modeling/TeamMessagePlayersState.h"
#include "Representations/Modeling/PlayerInfo.h"
#include "Representations/Modeling/RoleDecisionModel.h"
#include <Tools/DataStructures/ParameterList.h>
#include "Tools/Debug/DebugParameterList.h"
#include "Tools/Debug/DebugPlot.h"
#include "Tools/Debug/DebugRequest.h"
#include "Tools/Debug/DebugDrawings.h"
BEGIN_DECLARE_MODULE(RoleDecisionDynamic)
PROVIDE(DebugPlot)
PROVIDE(DebugRequest)
PROVIDE(DebugParameterList)
PROVIDE(DebugDrawings)
REQUIRE(FrameInfo)
REQUIRE(FieldInfo)
REQUIRE(GameData)
REQUIRE(PlayerInfo)
// REQUIRE(SoccerStrategy)
REQUIRE(TeamMessage)
REQUIRE(TeamMessagePlayersState)
REQUIRE(TeamMessageData)
PROVIDE(RoleDecisionModel)
END_DECLARE_MODULE(RoleDecisionDynamic);
class RoleDecisionDynamic : public RoleDecisionDynamicBase
{
public:
RoleDecisionDynamic();
virtual ~RoleDecisionDynamic();
virtual void execute();
private:
struct Striker {
unsigned int playerNumber;
double indicator;
Vector2d ball;
double sameBallRadius;
};
class Parameters: public ParameterList
{
public:
Parameters(): ParameterList("RoleDecisionDynamic")<--- Member variable 'Parameters::strikerIndicatorFn' is not initialized in the constructor.<--- Member variable 'Parameters::strikerBallDifferenceFn' is not initialized in the constructor.<--- Member variable 'Parameters::strikerGoalieDecisionFn' is not initialized in the constructor.<--- Member variable 'Parameters::step_speed' is not initialized in the constructor.<--- Member variable 'Parameters::turn_speed' is not initialized in the constructor.
{
PARAMETER_REGISTER(strikerIndicator, &Parameters::setStrikerIndicatorFunction) = "time"; // "distance"
PARAMETER_REGISTER(striker_ball_lost_time) = 1000.0;
PARAMETER_REGISTER(striker_ball_bonus_time) = 4000.0;
PARAMETER_REGISTER(striker_indicator_bonus) = 300.0;
PARAMETER_REGISTER(striker_ball_difference, &Parameters::setStrikerBallDifferenceFunction) = "constlinear"; // "const", "linear", "constlinear"
PARAMETER_REGISTER(striker_ball_difference_distance) = 500.0;
PARAMETER_REGISTER(striker_ball_difference_distance_m) = 0.35;
PARAMETER_REGISTER(striker_ball_difference_distance_n) = -40.0;
PARAMETER_REGISTER(goalie_striker_decision, &Parameters::setStrikerGoalieDecisionFunction) = "condition"; // "wants"
PARAMETER_REGISTER(goalie_striker_ball_distance) = 1500.0;
PARAMETER_REGISTER(goalie_striker_min_x_pos) = -2700.0;
PARAMETER_REGISTER(goalie_striker_decision_distance) = 500.0;
PARAMETER_REGISTER(step_time, &Parameters::setStepTime) = 250;
PARAMETER_REGISTER(step_distance, &Parameters::setStepDistance) = 80;
PARAMETER_REGISTER(turn_angle, &Parameters::setTurnAngle) = 30;
// load from the file after registering all parameters
syncWithConfig();
}
// striker function, returns an indicator who's fastest
std::string strikerIndicator;
double (RoleDecisionDynamic::*strikerIndicatorFn)(const TeamMessageData&);
double striker_ball_lost_time;
double striker_ball_bonus_time;
double striker_indicator_bonus;
// ball difference function returns, how similiar two balls should be
std::string striker_ball_difference;
double (RoleDecisionDynamic::*strikerBallDifferenceFn)(double);
double striker_ball_difference_distance;
double striker_ball_difference_distance_m;
double striker_ball_difference_distance_n;
// decides, whether the goalie gets striker or not
std::string goalie_striker_decision;
bool (RoleDecisionDynamic::*strikerGoalieDecisionFn)(const TeamMessageData*, std::vector<RoleDecisionDynamic::Striker>&);
double goalie_striker_ball_distance;
double goalie_striker_min_x_pos;
double goalie_striker_decision_distance;
// params for the time-to-ball striker function
double step_time;
double step_distance;
double turn_angle;
// the calculated speeds
double step_speed;
double turn_speed;
private:
void setStrikerBallDifferenceFunction(std::string variant) {
if(variant.compare("const") == 0) { // constant
strikerBallDifferenceFn = &RoleDecisionDynamic::ballDifferenceRadiusConstant;
} else if(variant.compare("linear") == 0) { // linear
strikerBallDifferenceFn = &RoleDecisionDynamic::ballDifferenceRadiusLinear;
} else if(variant.compare("constlinear") == 0) { // constlinear
strikerBallDifferenceFn = &RoleDecisionDynamic::ballDifferenceRadiusConstantLinear;
} else {
// backup, in case something went wrong
strikerBallDifferenceFn = &RoleDecisionDynamic::ballDifferenceRadiusConstant;
}
}
void setStrikerIndicatorFunction(std::string variant) {
if(variant.compare("distance") == 0) { // distance
strikerIndicatorFn = &RoleDecisionDynamic::strikerIndicatorDistance;
} else if(variant.compare("time") == 0) { // time
strikerIndicatorFn = &RoleDecisionDynamic::strikerIndicatorTimeToBall;
} else {
// backup, in case something went wrong
strikerIndicatorFn = &RoleDecisionDynamic::strikerIndicatorDistance;
}
}
void setStrikerGoalieDecisionFunction(std::string variant) {
if(variant.compare("wants") == 0) { // wants
strikerGoalieDecisionFn = &RoleDecisionDynamic::goalieStrikerDecisionWants;
} else if(variant.compare("condition") == 0) { // condition
strikerGoalieDecisionFn = &RoleDecisionDynamic::goalieStrikerDecisionCondition;
} else {<--- Found duplicate branches for 'if' and 'else'. [+]Finding the same code in an 'if' and related 'else' branch is suspicious and might indicate a cut and paste or logic error. Please examine this code carefully to determine if it is correct.
// backup, in case something went wrong
strikerGoalieDecisionFn = &RoleDecisionDynamic::goalieStrikerDecisionCondition;
}
}
void setStepTime(double t) { setSpeed(t, step_distance, turn_angle); }
void setStepDistance(double d) { setSpeed(step_time, d, turn_angle); }
void setTurnAngle(double a) { setSpeed(step_time, step_distance, a); }
void setSpeed(double t, double d, double a) {
step_speed = d / t;
turn_speed = Math::fromDegrees(a) / step_time;
}
} params;
void decideStriker(std::map<unsigned int, Roles::Dynamic>& roles);
void decideGoalieSupporter(std::map<unsigned int, Roles::Dynamic>& roles);
void decideSupporter(std::map<unsigned int, Roles::Dynamic>& roles);
void checkStriker(const TeamMessageData& msg, const double& indicator, const Vector2d& ball, std::vector<Striker>& striker, bool force = false);
bool checkSameBall(const Striker &s, const Vector2d& ball, double r);<--- Function 'checkSameBall' argument 3 names different: declaration 'r' definition 'radius'.
bool goalieStrikerDecisionWants(const TeamMessageData *goalie, std::vector<Striker>& striker);
bool goalieStrikerDecisionCondition(const TeamMessageData *goalie, std::vector<Striker>& striker);
/* Different radius methods for the same ball check. */
double ballDifferenceRadiusConstant(double /*d*/) { return params.striker_ball_difference_distance; }
double ballDifferenceRadiusLinear(double d) { return d * params.striker_ball_difference_distance_m + params.striker_ball_difference_distance_n; }
double ballDifferenceRadiusConstantLinear(double d) { return std::max(ballDifferenceRadiusConstant(d), ballDifferenceRadiusLinear(d)); }
/* Various evaluation functions who is faster to the ball for the striker decision. */
double strikerIndicatorDistance(const TeamMessageData& msg);
double strikerIndicatorTimeToBall(const TeamMessageData& msg);
/* Various evaluation functions, if another striker is already defending the goal. */
bool defendingGoalDirectLine(const Vector2d& ball, const Vector2d& player_pos) const;
bool defendingGoalCircle(const Vector2d& ball, const Vector2d& player_pos) const;
};
#endif // ROLEDECISIONDYNAMIC_H
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