足球机器人实验报告

机器人足球实验报

告

专业：计算机科学与技术

课程名称：足球机器人理论与实践

指导老师：刘钊

学号： 200813137197

学生姓名：顾伟

1.实验目的

1)逐步掌握FIRA平台的使用

2)掌握FIRA客户端智能体的编写

3)完成指定的智能体功能与动作

2.程序清单：

#ifndef_AFX_NO_DAO_SUPPORT_5V5_PARAMETER

#include

#define PI 3.14159265

typedef struct {double x, y,z;} Vector3D;

typedef struct {long left, right, top, bottom;} Bounds;

typedef struct {Vector3D pos;} Ball;

typedef struct {Vector3D pos;double rotation;} OpponentRobot;

typedef struct {Vector3D pos; double rotation,velocityLeft, velocityRight;} Robot; typedef struct {

Robot home[5];

OpponentRobot opponent[5];

Ball currentBall, lastBall, predictedBall;

Bounds fieldBound, goalBound;

long gameState;

long whosBall;

void *userData;

} Environment;

//基本数据处理函数组

double angle(Vector3D p,Vector3D p0);

double angle(double x,double y,double x0,double y0);

double angle(Vector3D p0,Vector3D p);

double dist(double x1,double y1,double x2,double y2);

double dist(Vector3D p1,Vector3D p2);

double differ_two_angle(double a1,double a2);

Vector3D turn_blue(Vector3D p);

Vector3D turn_yellow(Vector3D p);

double turn_blue(double rotate);

double turn_yellow(double rotate);

//策略函数组

void act_v(int no,double vl,double vr,Environment* env);

void rotation_to(int po,double rotation,Environment* env);//po号机器人面向rotation 角度，基于坐标变换后的角度值

void run_to_pos(int po,Vector3D pos,Environment* env);//po号机器人跑到pos位置void run_to_pos2(int po,Vector3D pos,Environment*env);

#endif

3在stdfx.cpp中添加基础数据处理函数实现过程

#include"math.h"

double differ_two_angle(double a1,double a2)

{

double a=fabs(a1-a2);

if(a>180) a=360-a;

return a;

}

Vector3D turn_blue(Vector3D p)

{

Vector3D pp;

pp.x=p.y-41.8061;

pp.y=93.4259-p.x;

return pp;

}

Vector3D turn_yellow(Vector3D p)

{

Vector3D pp;

pp.x=41.8061-p.y;

pp.y=p.x-6.8118;//6.8118Field Left x coordinate

return pp;

}

double turn_blue(double rotate)

{

if(rotate<0) rotate+=360;

rotate-=90;

if(rotate<0) rotate+=360;

return rotate;

}

double turn_yellow(double rotate)//将系统的角度转换成黄队方坐标的角度

{

if(rotate<0) rotate+=360;//矫正角度

rotate+=90;

if(rotate>=360) rotate-=360;//再次矫正角度

return rotate;

}

double angle(Vector3D p,Vector3D p0)

{

return(angle(p.x,p.y,p0.x,p0.y));

}

double angle(double x,double y,double x0,double y0) //x，y为目的点，x0，y0为源点

{

//（x，y）（x0，y0）两点连线与x轴的夹角

double dx,dy,dr;

dx=x-x0;

dy=y-y0;

dr=dist(x,y,x0,y0);

if(dr<0.0001) return 0;