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Shashank Suhas
Seminar-HFO
Commits
1a421360
Commit
1a421360
authored
Aug 12, 2017
by
drallensmith
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Plain Diff
Further cleanup
parent
7e600ca6
Changes
2
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2 changed files
with
18 additions
and
24 deletions
+18
-24
src/agent.cpp
src/agent.cpp
+18
-23
src/agent.h
src/agent.h
+0
-1
No files found.
src/agent.cpp
View file @
1a421360
...
...
@@ -165,14 +165,6 @@ int Agent::getUnum() {
return
world
().
self
().
unum
();
}
void
Agent
::
setLastActionStatusCollision
(
bool
may_fix
,
bool
likely_success
)
{
if
(
likely_success
||
may_fix
)
{
last_action_status
=
true
;
}
else
{
last_action_status
=
false
;
}
}
bool
Agent
::
initImpl
(
CmdLineParser
&
cmd_parser
)
{
bool
result
=
PlayerAgent
::
initImpl
(
cmd_parser
);
...
...
@@ -270,10 +262,12 @@ void Agent::actionImpl() {
switch
(
requested_action
)
{
case
DASH
:
setLastActionStatusCollision
(
may_fix
,
this
->
doDash
(
params
[
0
],
params
[
1
]));
last_action_status
=
this
->
doDash
(
params
[
0
],
params
[
1
]);
last_action_status
|=
wm
.
self
().
collidesWithPost
();
// Can sometimes get out of collision
break
;
case
TURN
:
setLastActionStatusCollision
(
may_fix
,
this
->
doTurn
(
params
[
0
]));
last_action_status
=
this
->
doTurn
(
params
[
0
]);
last_action_status
|=
wm
.
self
().
collidesWithPost
();
// ditto
break
;
case
TACKLE
:
last_action_status
=
this
->
doTackle
(
params
[
0
],
false
);
...
...
@@ -290,22 +284,23 @@ void Agent::actionImpl() {
break
;
case
MOVE_TO
:
if
(
feature_extractor
!=
NULL
)
{
setLastActionStatusCollision
(
may_fix
,
Body_GoToPoint
(
Vector2D
(
feature_extractor
->
absoluteXPos
(
params
[
0
])
,
feature_extractor
->
absoluteYPos
(
params
[
1
])),
0.25
,
ServerParam
::
i
().
maxDashPower
()).
execute
(
this
));
last_action_status
=
Body_GoToPoint
(
Vector2D
(
feature_extractor
->
absoluteXPos
(
params
[
0
])
,
feature_extractor
->
absoluteYPos
(
params
[
1
])),
0.25
,
ServerParam
::
i
().
maxDashPower
()).
execute
(
this
);
last_action_status
|=
wm
.
self
().
collidesWithPost
();
// can get out of collision w/post
}
break
;
case
DRIBBLE_TO
:
if
(
feature_extractor
!=
NULL
)
{
setLastActionStatusCollision
(
may_fix
,
Body_Dribble
(
Vector2D
(
feature_extractor
->
absoluteXPos
(
params
[
0
])
,
feature_extractor
->
absoluteYPos
(
params
[
1
])),
1.0
,
ServerParam
::
i
().
maxDashPower
(),
2
).
execute
(
this
));
last_action_status
=
Body_Dribble
(
Vector2D
(
feature_extractor
->
absoluteXPos
(
params
[
0
])
,
feature_extractor
->
absoluteYPos
(
params
[
1
])),
1.0
,
ServerParam
::
i
().
maxDashPower
(),
2
).
execute
(
this
);
last_action_status
|=
wm
.
self
().
collidesWithPost
();
// ditto
}
break
;
case
INTERCEPT
:
setLastActionStatusCollision
(
may_fix
,
Body_Intercept
().
execute
(
this
));
last_action_status
=
Body_Intercept
().
execute
(
this
);
last_action_status
|=
wm
.
self
().
collidesWithPost
();
// ditto
break
;
case
MOVE
:
last_action_status
=
this
->
doMove
();
...
...
@@ -914,13 +909,13 @@ Agent::doDribble()
M_action_generator
=
ActionGenerator
::
ConstPtr
(
g
);
ActionChainHolder
::
instance
().
setFieldEvaluator
(
M_field_evaluator
);
ActionChainHolder
::
instance
().
setActionGenerator
(
M_action_generator
);
success
=
doPreprocess
();
bool
preprocess_
success
=
doPreprocess
();
ActionChainHolder
::
instance
().
update
(
world
()
);
if
(
Bhv_ChainAction
(
ActionChainHolder
::
instance
().
graph
()).
execute
(
this
))
{
if
(
Bhv_ChainAction
(
ActionChainHolder
::
instance
().
graph
()).
execute
(
this
)
||
preprocess_success
)
{
return
true
;
}
else
{
return
success
;
}
return
false
;
}
/*-------------------------------------------------------------------*/
...
...
src/agent.h
View file @
1a421360
...
...
@@ -99,7 +99,6 @@ protected:
bool
doDefendGoal
();
bool
doGoToBall
();
bool
doNewAction1
();
void
setLastActionStatusCollision
(
bool
may_fix
,
bool
likely_success
);
Communication
::
Ptr
M_communication
;
...
...
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