Added high-level catch action.

hfo/hfo.py

@@ -22,12 +22,13 @@ class HFO_Actions:
   [High-Level] Shoot(): Shoot the ball
   [High-Level] Pass(teammate_unum): Pass to teammate
   [High-Level] Dribble(): Offensive dribble
+  [High-Level] Catch(): Catch the ball (Goalie Only)
   NOOP(): Do Nothing
   QUIT(): Quit the game
 
   '''
   DASH, TURN, TACKLE, KICK, KICK_TO, MOVE_TO, DRIBBLE_TO, INTERCEPT, \
-    MOVE, SHOOT, PASS, DRIBBLE, NOOP, QUIT = range(14)
+    MOVE, SHOOT, PASS, DRIBBLE, CATCH, NOOP, QUIT = range(15)
 
 class HFO_Status:
   ''' Current status of the HFO game. '''
@@ -59,6 +60,7 @@ class HFOEnvironment(object):
       HFO_Actions.SHOOT : 0,
       HFO_Actions.PASS : 1,
       HFO_Actions.DRIBBLE : 0,
+      HFO_Actions.CATCH : 0,
       HFO_Actions.NOOP : 0,
       HFO_Actions.QUIT : 0}.get(action_type, -1);
 

src/HFO.cpp

@@ -41,6 +41,12 @@ std::string HFOEnvironment::ActionToString(Action action) {
     case DRIBBLE:
       ss << "Dribble";
       break;
+    case CATCH:
+      ss << "Catch";
+      break;
+    case NOOP:
+      ss << "No-op";
+      break;
     case QUIT:
       ss << "Quit";
       break;
@@ -74,6 +80,8 @@ int HFOEnvironment::NumParams(action_t action) {
      return 1;
    case DRIBBLE:
      return 0;
+   case CATCH:
+     return 0;
    case NOOP:
      return 0;
    case QUIT:

src/HFO.hpp

@@ -29,6 +29,7 @@ enum action_t
   SHOOT,      // [High-Level] Shoot(): Shoot the ball
   PASS,       // [High-Level] Pass(teammate_unum [0,11]): Pass to the most open teammate
   DRIBBLE,    // [High-Level] Dribble(): Offensive dribble
+  CATCH,      // [High-Level] Catch(): Catch the ball (Goalie only!)
   NOOP,       // Do nothing
   QUIT        // Special action to quit the game
 };

src/agent.cpp

@@ -496,6 +496,9 @@ void Agent::actionImpl() {
     case DRIBBLE:
       this->doDribble();
       break;
+    case CATCH:
+      this->doCatch();
+      break;
     case NOOP:
       break;
     case QUIT: