Merge remote-tracking branch 'origin/TnT2'

Umbrella167 · Apr 9, 2024 · 3f78a0d · 3f78a0d
2 parents eb691f4 + e913d32
commit 3f78a0d
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Showing 5 changed files with 58 additions and 16 deletions.
diff --git a/Core/src/LuaModule/utils.pkg b/Core/src/LuaModule/utils.pkg
@@ -9,7 +9,7 @@ namespace Utils{
 
 
 	std::string GlobalStatus(const CVisionModule *pVision,int attack_flag);
-	CGeoPoint GetInterPos(const CVisionModule *pVision, CGeoPoint player_pos,double velocity);
+	//CGeoPoint GetInterPos(const CVisionModule *pVision, CGeoPoint player_pos,double velocity);
 	std::string GlobalComputingPos(const CVisionModule *pVision);
 	CGeoPoint GetAttackPos(const CVisionModule *pVision,int num);
 

diff --git a/Core/src/Utils/LeastSquaresfit.h b/Core/src/Utils/LeastSquaresfit.h
@@ -30,8 +30,9 @@ class LeastSquaresfit
     double GetPreDist(double label, double time); // 输入标签和时间预测距离
     double GetPreTime(double label, double d); // 输入标签和距离预测时间
     double GetMaxDist(double label); // 输入标签,输出能到达的最远距离
-//    CGeoPoint GetBallPrePos(double ball_v, CGeoPoint ball_pos, double ball_dir,double time);
-
+    CGeoPoint GetMaxPos(double label, GlobalTick* Tick); // 输入标签，输出最远能到达的点
+    CGeoPoint BestGetBallPos(double label, CGeoPoint playerPos, GlobalTick* Tick); // 输入标签，玩家的位置和Tick返回最佳截球点
+    double GetLabel(GlobalTick* Tick); // 获取标签
 private:
     int Len;
     double Em[6][4];

diff --git a/Core/src/Utils/utils.cpp b/Core/src/Utils/utils.cpp
@@ -252,16 +252,57 @@ namespace Utils
         }
     }
 
+    /**
+     * 获取球运动的最远距离
+     * @brief GetBallMaxDist
+     * @param pVision
+     * @return
+     */
+    double GetBallMaxDist(const CVisionModule *pVision){
+        double a = PARAM::Field::V_DECAY_RATE;
+        double v = pVision ->ball().Vel().mod();
+        double maxT = v / a;
+        double maxDist = a * maxT * maxT;
+
+        GDebugEngine::Instance()->gui_debug_msg(CGeoPoint(1000, 1500), "v:"+to_string(v));
+        GDebugEngine::Instance()->gui_debug_msg(CGeoPoint(1000, 1000), "d:"+to_string(maxDist));
+        return maxDist;
+    }
+
+    /**
+     * 给球要经过的距离,返回到达此处的时间
+     * @brief GetBallToDistTime
+     * @param pVision
+     * @param dist
+     * @return
+     */
+    double GetBallToDistTime(const CVisionModule *pVision, double dist){
+        double a = PARAM::Field::V_DECAY_RATE;
+        double v = pVision ->ball().Vel().mod();
+        double t = sqrt((2*a*dist + v*v) / a*a) - v/a;
+
+//        GDebugEngine::Instance()->gui_debug_msg(CGeoPoint(1000, 2000), "t:"+to_string(t));
+        return t;
+    }
+
+
     /**
      * 获取相对某坐标最佳截球点（动态：球在运动过程中）
      * @param  {CVisionModule*} pVision : pVision
      * @param  {CGeoPoint} player_pos   : 坐标
      * @param  {double} velocity        : 速度
      * @return {CGeoPoint}              : 最佳截球点
      */
-    CGeoPoint GetInterPos(const CVisionModule *pVision, CGeoPoint player_pos, double velocity)
+    CGeoPoint BestGetBallPos(const CVisionModule *pVision)
     {
-
+        double maxDist = GetBallMaxDist(pVision);
+        GetBallToDistTime(pVision, maxDist);
+        for(int dist=0;dist<maxDist;dist+=100){
+//            GetBallToDistTime(pVision, dist);
+            GDebugEngine::Instance()->gui_debug_msg(pVision->ball().Pos()+Polar2Vector(dist, pVision->ball().Vel().dir()), to_string(GetBallToDistTime(pVision, dist)),1,10);
+            GDebugEngine::Instance()->gui_debug_x(pVision->ball().Pos()+Polar2Vector(dist, pVision->ball().Vel().dir()));
+        }
+        return pVision ->ball().Pos() + Polar2Vector(maxDist, pVision ->ball().Vel().dir());
     }
 
             /**
@@ -285,6 +326,8 @@ namespace Utils
     CGeoSegment PredictBallLine(const CVisionModule *pVision)
     {
 
+
+
     }
     double GlobalConfidence(const CVisionModule *pVision,int attack_flag)
     {
@@ -429,13 +472,15 @@ namespace Utils
         }
 
         //Debug
+        GDebugEngine::Instance()->gui_debug_msg(CGeoPoint(0,0), "testmsg");
+        GDebugEngine::Instance()->gui_debug_x(BestGetBallPos(pVision));
+
         for(int i = 0;i < PARAM::Field::MAX_PLAYER;i++)
         {
             if(pVision ->ourPlayer(i).Valid() &&
               (attack_flag == 0 &&
               (Tick[now].task[i].player_num != -1 && Tick[now].task[i].player_num != Tick[now].our.goalie_num)))
             {
-
                 global_status = global_status + "[" + to_string(Tick[now].task[i].player_num) + "," + Tick[now].task[i].status + "]";
                 GDebugEngine::Instance()->gui_debug_msg(CGeoPoint(pVision ->ourPlayer(i).Pos().x(),pVision ->ourPlayer(i).Pos().y() - 160),"Number: " + to_string(Tick[now].task[i].player_num),4,0,80);
                 GDebugEngine::Instance()->gui_debug_msg(CGeoPoint(pVision ->ourPlayer(i).Pos().x(),pVision ->ourPlayer(i).Pos().y() - 250),"shoot: " + to_string(Tick[now].task[i].confidence_shoot),8,0,80);
@@ -659,8 +704,6 @@ namespace Utils
         pass_grade = 0.2 * pass_dir_grade + 0.8 * pass_dist_grade;
         grade = 0.4 * shoot_grade + 0.3 * pass_grade + 0.3 * pass_safty_grade;
         return grade;
-
-
     }
 
 

diff --git a/Core/tactics/play/mytest.lua b/Core/tactics/play/mytest.lua
@@ -18,6 +18,8 @@ local debugStatus = function()
 		"  " 					.. 
 		tostring(i.status),3)
 	end
+
+
 end
 
 local closures_point = function(point)

diff --git a/share/staticparams.h b/share/staticparams.h
@@ -47,21 +47,17 @@ namespace PARAM {
         const double GOAL_WIDTH = 1000;
         const double GOAL_DEPTH = 200;
         const double RATIO = 1.5;
+        const double V_DECAY_RATE = 2000;
     }
     namespace Player {
         const int playerFrontToCenter = 76; // 机器人圆心到嘴的距离
         const int playerRadiusr = 90; // 机器人半径
         const int playerBuffer = 120; // 检测敌人是否在某直线上的缓冲值
         const double playerBallRightsBuffer = 230; // 球权判断缓冲值
         const int playerTouchAngle = 60;
-                }
-    namespace Tick {
-        const int TickLength = 3; //保存的帧数
-    }
-    namespace Fit { // 擬合相關參數
-        const int FitLabel = 3; // 取第几帧的距离作为标签
-        const int DataTickLength = 100; // 采样时保存帧数
-        const std::string FitDataFileName = "fitfunctions/data.txt" ; //拟合时用的文件名
+    }
+    namespace Tick{
+        const int TickLength = 5; //保存的帧数
     }
     namespace Rule{
         const int Version = 2019; // 规则的版本/年份
-Original file line number
+Diff line change
@@ Expand Up / @@ -18,6 +18,8 @@ local debugStatus = function() @@
     		"  " 					..
     		tostring(i.status),3)
     	end
     end
     local closures_point = function(point)
@@ Expand Down @@