Robocup3D第一次笔记

初学robocup3D，还不太了解。

首先我们安装好robocup3D的环境，先测试一下demo

1：在roboviz文件夹里打开终端，输入 ./roboviz.sh 打开仿真模拟器

2：在SIMSPARK_0.3.1_RELEASE文件夹打开终端，输入rcsss后tap键补全，打开足球场。

3：在代码文件夹打开终端，./ 编译运行代码

我的demo就是机器人转圈；

SkillType NaoBehavior::demoKickingCircle() {
    // Parameters for circle
    VecPosition center = VecPosition(-HALF_FIELD_X/2.0, 0, 0);
    double circleRadius = 5.0;
    double rotateRate = 2.5;

    // Find closest player to ball
    int playerClosestToBall = -1;
    double closestDistanceToBall = 10000;
    for(int i = WO_TEAMMATE1; i < WO_TEAMMATE1+NUM_AGENTS; ++i) {
        VecPosition temp;
        int playerNum = i - WO_TEAMMATE1 + 1;
        if (worldModel->getUNum() == playerNum) {
            // This is us
            temp = worldModel->getMyPosition();
        } else {
            WorldObject* teammate = worldModel->getWorldObject( i );
            if (teammate->validPosition) {
                temp = teammate->pos;
            } else {
                continue;
            }
        }
        temp.setZ(0);

        double distanceToBall = temp.getDistanceTo(ball);
        if (distanceToBall < closestDistanceToBall) {
            playerClosestToBall = playerNum;
            closestDistanceToBall = distanceToBall;
        }
    }

    if (playerClosestToBall == worldModel->getUNum()) {
        // Have closest player kick the ball toward the center
        return kickBall(KICK_FORWARD, center);
    } else {
        // Move to circle position around center and face the center
        VecPosition localCenter = worldModel->g2l(center);
        SIM::AngDeg localCenterAngle = atan2Deg(localCenter.getY(), localCenter.getX());

        // Our desired target position on the circle
        // Compute target based on uniform number, rotate rate, and time
        VecPosition target = center + VecPosition(circleRadius,0,0).rotateAboutZ(360.0/(NUM_AGENTS-1)*(worldModel->getUNum()-(worldModel->getUNum() > playerClosestToBall ? 1 : 0)) + worldModel->getTime()*rotateRate);

        // Adjust target to not be too close to teammates or the ball
        target = collisionAvoidance(true /*teammate*/, false/*opponent*/, true/*ball*/, 1/*proximity thresh*/, .5/*collision thresh*/, target, true/*keepDistance*/);

        if (me.getDistanceTo(target) < .25 && abs(localCenterAngle) <= 10) {
            // Close enough to desired position and orientation so just stand
            return SKILL_STAND;
        } else if (me.getDistanceTo(target) < .5) {
            // Close to desired position so start turning to face center
            return goToTargetRelative(worldModel->g2l(target), localCenterAngle);
        } else {
            // Move toward target location
            return goToTarget(target);
        }
    }
}

然后就可以尝试着理解代码了

我首先看了worldmodel模块

class WorldModel {

private:

    unsigned long cycle;
    int scoreLeft;
    int scoreRight;
    double time;
    double gameTime;
    int playMode;
    int lastPlayMode;
    int lastDifferentPlayMode;
    int uNum;
    int side;

    bool uNumSet;
    bool sideSet;

    WorldObject worldObjects[NUM_WORLD_OBJS];
    VecPosition myPosition;
    SIM::AngDeg myAngDegrees;
    bool confident;

    VecPosition myLastPosition;
    SIM::AngDeg myLastAngDegrees;
    RVSender *rvsend;
    bool fUseGroundTruthDataForLocalization;
    // TODO: comment it out if we don't want ground truth
#define GROUND_TRUTH_SERVER
#ifdef GROUND_TRUTH_SERVER
    VecPosition myPositionGroundTruth;
    SIM::AngDeg myAngGroundTruth;
    VecPosition ballGroundTruth;
#endif

    double lastBallSightingTime;
    double lastLineSightingTime;

    // This is where we actually saw the ball ourself
    vector<VecPosition> lastBallSeenPosition;
    vector<double> lastBallSeenTime;

    // remember last two skills
    vector<SkillType> lastSkills;
    vector<SkillType> executedSkillsForOdometry;

    // record last odometry from particle filter
    SIM::Point2D lastOdometryPos;
    double lastOdometryAngDeg;

    bool fLocalized;
    bool fFallen;

    HCTMatrix localToGlobal, globalToLocal;

    vector<bool> fallenTeammate;
    vector<bool> fallenOpponent;

模块太长了所以没给完全

我们可以看到很多定义，重载来实现函数功能。

其中部分函数通过教程与摸索知道了其功能

getMyPosition（获取球员的位置）
getUNum() (判断球员的号码)
getPlayMode()(获取比赛模式)
getTime()（比赛时间）
setPlayMode（）（设置比赛模式）
setUNum（）（设置球员）
VecPosition（x,y,z）(初始化位置)
getOpponent（）（获取敌方守门员的位置）
等等还有很多

比较懒就写了一个很简单的例子（11号就直接冲）

SkillType NaoBehavior::demokick(){
    if(worldModel->getUNum()==11){
        return kickBall(KICK_11M,VecPosition(HALF_FIELD_X,0,0));
    }
    else  return SKILL_STAND;

    }