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// -*-c++-*-
/*
*Copyright:
Copyright (C) Hidehisa AKIYAMA
This code is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3, or (at your option)
any later version.
This code is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this code; see the file COPYING. If not, write to
the Free Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
*EndCopyright:
*/
/////////////////////////////////////////////////////////////////////
#ifndef AGENT_H
#define AGENT_H
#include "action_generator.h"
#include "field_evaluator.h"
#include "communication.h"
#include "HFO.hpp"
#include <rcsc/player/player_agent.h>
#include <vector>
class Agent : public rcsc::PlayerAgent {
public:
Agent();
virtual ~Agent();
virtual FieldEvaluator::ConstPtr getFieldEvaluator() const;
protected:
// You can override this method. But you must call
// PlayerAgent::initImpl() in this method.
virtual bool initImpl(rcsc::CmdLineParser& cmd_parser);
// main decision
virtual void actionImpl();
// communication decision
virtual void communicationImpl();
virtual void handleActionStart();
virtual void handleActionEnd();
virtual void handleServerParam();
virtual void handlePlayerParam();
virtual void handlePlayerType();
virtual FieldEvaluator::ConstPtr createFieldEvaluator() const;
virtual ActionGenerator::ConstPtr createActionGenerator() const;
// Updated the state features stored in feature_vec
void updateStateFeatures();
// Get the current game status
hfo_status_t getGameStatus();
// Encodes an angle feature as the sin and cosine of that angle,
// effectively transforming a single angle into two features.
void addAngFeature(const rcsc::AngleDeg& ang);
// Encodes a proximity feature which is defined by a distance as
// well as a maximum possible distance, which acts as a
// normalizer. Encodes the distance as [0-far, 1-close]. Ignores
// distances greater than maxDist or less than 0.
void addDistFeature(float dist, float maxDist);
// Add the angle and distance to the landmark to the feature_vec
void addLandmarkFeatures(const rcsc::Vector2D& landmark,
const rcsc::Vector2D& self_pos,
const rcsc::AngleDeg& self_ang);
// Add features corresponding to another player.
void addPlayerFeatures(rcsc::PlayerObject& player,
const rcsc::Vector2D& self_pos,
const rcsc::AngleDeg& self_ang);
// Start the server and listen for a connection.
void startServer(int server_port=6008);
// Transmit information to the client and ensure it can recieve.
void clientHandshake();
protected:
int numTeammates; // Number of teammates in HFO
int numOpponents; // Number of opponents in HFO
bool playingOffense; // Are we playing offense or defense?
int numFeatures; // Total number of features
// Number of features for non-player objects.
const static int num_basic_features = 58;
// Number of features for each player or opponent in game.
const static int features_per_player = 8;
int featIndx; // Feature being populated
std::vector<float> feature_vec; // Contains the current features
// Observed values of some parameters.
const static float observedSelfSpeedMax = 0.46;
const static float observedPlayerSpeedMax = 0.75;
const static float observedStaminaMax = 8000.;
const static float observedBallSpeedMax = 3.0;
float maxHFORadius; // Maximum possible distance in HFO playable region
// Useful measures defined by the Server Parameters
float pitchLength, pitchWidth, pitchHalfLength, pitchHalfWidth,
goalHalfWidth, penaltyAreaLength, penaltyAreaWidth;
long lastTrainerMessageTime; // Last time the trainer sent a message
int server_port; // Port to start the server on
bool server_running; // Is the server running?
int sockfd, newsockfd; // Server sockets
private:
bool doPreprocess();
bool doShoot();
bool doForceKick();
bool doHeardPassReceive();
Communication::Ptr M_communication;
FieldEvaluator::ConstPtr M_field_evaluator;
ActionGenerator::ConstPtr M_action_generator;
};
#endif