/***************************************************************************
?*??????????????????????????????SEU?RoboCup?Simulation?Team
?*?????????????????????-------------------------------------------------
?*?Copyright?（c）?Southeast?University??Nanjing?China.
?*?All?rights?reserved.
?*
?*?$Id:?TeamPlayer.cpp?2755?2009-04-02?08:00:08Z?zyj?$
?*
?****************************************************************************/

#include?“configuration/Configuration.h“
#include?“core/WorldModel.h“
#include?“action/BeamAction.h“
#include?“action/Actions.h“
#include?“controller/FixedAngleTrace.h“
#include?“TeamPlayer.h“
#include?“task/KeepBalance.h“
#include?“perception/Vision.h“
#include?“task/CameraMotion.h“
#include?“core/PassModel.h“
#include?“configuration/Formation.h“
?
namespace?soccer?{

????using?namespace?std;
????using?namespace?boost;
????using?namespace?serversetting;
????using?namespace?action;
????using?namespace?task;
????using?namespace?math;

????TeamPlayer::TeamPlayer（）?{
????}

????TeamPlayer::~TeamPlayer（）?{
????}

????bool?TeamPlayer::init（）?{
????????if?（!Player::init（））?return?false;

????????//?get?the?game?state?information?from?the?server
????????//?such?as?team?index?unum?etc
????????while?（true）?{
????????????boost::shared_ptr?p?=?sense（）;
????????????if?（0?==?p.get（））?break;
????????????if?（!WM.update（p））?break;
????????????if?（WM.getMyUnum（）?>?0）?{
????????????????shared_ptr?act?=?beamAndInit（FM.getMy（）.beforeKickOffBeam）;
????????????????perform（act）;

????????????????return?true;
????????????}
????????}
????????return?false;
????}

????/**?the?paly-on?mode?mainly?loop?*/
????shared_ptr?TeamPlayer::playPlayOn（）?{
????????/*************************************
?????????*?EXPERIMENTS:
?????????*?We?do?some?experiments?here
?????????*************************************/
????????shared_ptr?act;
????????if?（!mTask.isSubDone（））?{
????????????return?mTask.perform（）;
????????}
????????switch?（FM.getMy（）.type）?{
????????????case?configuration::Formation::PT_GOALKEEPER:?//No.1gk
????????????????act?=?goalKeeperBehaviour（）;
????????????????break;
	????case?configuration::Formation::PT_ATTACKER_CENTRAL://no.5ac
????????????????act?=?attackerCentralBehaviour（）;
????????????????break;
	????case?configuration::Formation::PT_ATTACKER_WING://no.4aw
????????????????act?=?attackerWingBehaviour（）;
????????????????break;
????????????case?configuration::Formation::PT_DEFENDER_WING://no.3dc
		act?=?defenderCentralBehaviour（）;
????????????????break;
	????case?configuration::Formation::PT_DEFENDER_CENTRAL://no.2dw
		act?=?defenderWingBehaviour（）;
????????????????break;
	????default:
????????????????act?=?defaultBehaviour（）;
????????????????break;

????????}
????????return?act;
????}

????/**?before?kick?off?*/
????shared_ptr?TeamPlayer::playBeforeKickOff（）?{?///terrymimi

????????return?beamAndInit（FM.getMy（）.beforeKickOffBeam?+?Vector3f（-0.2?0.3?0））;
????}

????/**?kick?off?*/

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件????????240??2012-10-30?04:10??我們的SEU3D_base3\.kdev4\SEU3D_base3.kdev4

?????文件????????610??2012-04-21?16:39??我們的SEU3D_base3\authors

?????文件????????239??2012-09-25?20:59??我們的SEU3D_base3\bin\data\kick_motion.txt

?????文件????????239??2012-09-25?20:58??我們的SEU3D_base3\bin\data\kick_motion.txt~

?????文件??????14727??2012-11-08?23:36??我們的SEU3D_base3\bin\data\nao.txt

?????文件??????49464??2012-11-08?23:36??我們的SEU3D_base3\bin\data\nao_pose.txt

?????文件????????239??2012-09-25?20:59??我們的SEU3D_base3\bin\data\原1\kick_motion.txt

?????文件??????14727??2012-10-28?02:26??我們的SEU3D_base3\bin\data\原1\nao.txt

?????文件??????49617??2012-10-28?02:26??我們的SEU3D_base3\bin\data\原1\nao_pose.txt

?????文件????????239??2012-09-25?20:59??我們的SEU3D_base3\bin\data\改1\kick_motion.txt

?????文件??????14727??2012-10-30?22:13??我們的SEU3D_base3\bin\data\改1\nao.txt

?????文件??????49597??2012-10-30?22:13??我們的SEU3D_base3\bin\data\改1\nao_pose.txt

?????文件????????239??2012-09-25?20:59??我們的SEU3D_base3\bin\data\改2\kick_motion.txt

?????文件??????14727??2012-10-31?13:43??我們的SEU3D_base3\bin\data\改2\nao.txt

?????文件??????49597??2012-10-31?13:43??我們的SEU3D_base3\bin\data\改2\nao_pose.txt

?????文件???????2334??2012-09-25?20:51??我們的SEU3D_base3\bin\formation.conf

?????文件????????329??2012-09-13?12:56??我們的SEU3D_base3\bin\goalkeeper.sh

?????文件????????121??2012-06-22?14:56??我們的SEU3D_base3\bin\kill.sh

?????文件????????329??2012-09-13?12:55??我們的SEU3D_base3\bin\oneattacker.sh

?????文件???????1000??2012-06-22?14:56??我們的SEU3D_base3\bin\rsg\agent\ball.rsg

?????文件????????558??2012-06-22?14:56??我們的SEU3D_base3\bin\rsg\agent\fieldline.rsg

?????文件???????1748??2012-06-22?14:56??我們的SEU3D_base3\bin\rsg\agent\fieldring.rsg

?????文件????????358??2012-06-22?14:56??我們的SEU3D_base3\bin\rsg\agent\flag.rsg

?????文件????????827??2012-06-22?14:56??我們的SEU3D_base3\bin\rsg\agent\flag_left.rsg

?????文件????????844??2012-06-22?14:56??我們的SEU3D_base3\bin\rsg\agent\flag_left1.rsg

?????文件????????845??2012-06-22?14:56??我們的SEU3D_base3\bin\rsg\agent\flag_left2.rsg

?????文件????????283??2012-06-22?14:56??我們的SEU3D_base3\bin\rsg\agent\flag_no_viz.rsg

?????文件????????829??2012-06-22?14:56??我們的SEU3D_base3\bin\rsg\agent\flag_right.rsg

?????文件????????846??2012-06-22?14:56??我們的SEU3D_base3\bin\rsg\agent\flag_right1.rsg

?????文件????????848??2012-06-22?14:56??我們的SEU3D_base3\bin\rsg\agent\flag_right2.rsg

............此處省略778個(gè)文件信息