robocup初学（第一篇）

第一步：

在三个不同文件夹中

在roboviz文件夹中用./roboviz.sh（打开模拟器）

在SIMSPARK_0.3.1_RELEASE中用rcsss用Tab补齐可以打开球场

在代码文件夹中用。./start.h可以上场球员

首先看了worldmodel里面的函数和变量

这里就简述下个人认为比较有用的一些函数

getUNum()//获取当前球员的号码
getLastSkill()//获得上一次策略
worldModel->getOpponent(i)//{用循环遍历得到对方球员的位置}
SkillType kickBall(kickTypeToUse,VecPosition,&target);//动作踢球
getFallenTeammate()	//判断摔倒队友的编号
getBall()//获取球的位置
collisionAvoidance()//避免碰撞
getGameTime()//获取比赛时间
getPalyMode()//获取比赛状态
SkillType goToTargetRelative（相对球员方向，角度）//指定当前球员行动方向
wordModel->getTeammate(i)	//（i为我方球员编号）			获取指定球员坐标
Temp.getDistanceTo(VecPosition(x,y,0))	//判断球员于目标距离

写策略的话要用在这个文件夹里面strategy.cc

然后可以根据场上不同形式可以在selectSkill（）来选择写完的策略

这边就简单写了个11号直接冲的代码

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

这里的官方的代码加上自己的部分注释

SkillType NaoBehavior::demoKickingCircle() {
    // Parameters for circle
    VecPosition center = VecPosition(-HALF_FIELD_X/2.0, 0, 0);//确定球门位置
    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;
        }//判断离球最近的球员编号
    }

    if (playerClosestToBall == worldModel->getUNum()) {
        // Have closest player kick the ball toward the center
        if(agentBodyType==0){//此类型机器人还未加入长踢
            return kickBall(KICK_FORWARD,center);
        }//让最近的人踢球
        return kickBall(KICK_8M, 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);
        }
    }
}