gameplay.plays.offense.adaptive_formation.AdaptiveFormation Class Reference

Classes
class	State

Public Member Functions
def	__init__ (self)
def	score (cls)
def	should_pass_from_dribble (self)
def	should_shoot_from_dribble (self)
def	should_clear_from_dribble (self)
def	dribbler_has_ball (self)
def	on_enter_collecting (self)
def	on_exit_collecting (self)
def	on_enter_dribbling (self)
def	execute_dribbling (self)
def	on_exit_dribbling (self)
def	on_enter_shooting (self)
def	on_exit_shooting (self)
def	on_enter_clearing (self)
def	on_exit_clearing (self)
def	on_enter_passing (self)
def	on_exit_passing (self)
Public Member Functions inherited from gameplay.standard_play.StandardPlay
def	__init__ (self, continuous)
def	use_standard_defense (self)
def	execute_running (self)
def	handles_goalie (cls)
Public Member Functions inherited from gameplay.play.Play
def	__init__ (self, continuous)
def	score (cls)
	Used to determine when to run a play Return float("inf") if the play cannot be used or a score (lower is better) used to select the best play. More...
def	is_restart (cls)
def	handles_goalie (cls)
	Override to opt-in to handling the Goalie By default, the root play allocates and runs the goalie behavior and the play handles the rest of the bots. More...
def	run_during_stopped (cls)
	Override to allow a play to run during the stopped state This is reserved only for very special plays that need to run during the stopped state. More...
Public Member Functions inherited from gameplay.composite_behavior.CompositeBehavior
def	__init__
def	add_subbehavior
def	remove_subbehavior
def	has_subbehavior_with_name
def	has_subbehaviors (self)
def	subbehavior_with_name
def	subbehaviors_by_name (self)
def	remove_all_subbehaviors (self)
def	all_subbehaviors (self)
	Returns a list of all subbehaviors.
def	all_subbehaviors_completed (self)
def	spin (self)
	Override StateMachine.spin() so we can call spin() on subbehaviors.
def	handle_subbehavior_exception (self, name, exception)
	Override point for exception handling this is called whenever a subbehavior throws an exception during spin() subclasses of CompositeBehavior can override this to perform custom actions, such as removing the offending subbehavior the default implementation logs the exception and re-raises it.
def	role_requirements (self)
	returns a tree of role_requirements
def	assign_roles (self, assignments)
def	__str__ (self)
Public Member Functions inherited from gameplay.behavior.Behavior
def	__init__
def	add_state (self, state, parent_state=None)
def	is_done_running (self)
def	terminate (self)
	Transitions the Behavior into a terminal state (either completed or cancelled)
def	behavior_state (self)
	returns a state in Behavior.State that represents what the behaviors is doing use this instead of the property if you want to avoid dealing with custom subclass substates
def	is_continuous (self)
	The Behavior's termination behavior noncontinuous: a behavior that accomplishes a specific task, then completes (example: shooting at the goal) continuous: a behavior that continually runs until told to stop (example: zone defense)
def	__str__ (self)
def	role_requirements (self)
	Returns a tree of RoleRequirements keyed by subbehavior reference name This is used by the dynamic role assignment system to intelligently select which robot will run which behavior.
def	assign_roles (self, assignments)
	assignments is a tree of (RoleRequirements, OurRobot) tuples Same tree structure as the role_requirements() return value, but tuples instead of RoleRequirements as leaf nodes
Public Member Functions inherited from gameplay.fsm.StateMachine
def	__init__ (self, start_state)
def	start_state (self)
def	restart (self)
	Resets the FSM back into the start state.
def	add_state (self, state, parent_state=None)
	Registers a new state (which can optionally be a substate of an existing state)
def	spin (self)
	Runs the FSM checks transition conditions for all edges leading away from the current state if one evaluates to true, we transition to it if more than one evaluates to true, we throw a RuntimeError.
def	add_transition
def	transition (self, new_state)
def	is_in_state (self, state)
def	state_is_substate (self, state, possible_parent)
def	corresponding_ancestor_state (self, ancestors)
def	ancestors_of_state (self, state)
def	as_graphviz (self)
def	write_diagram_png
def	state (self)

Public Attributes
	dribbler
	dribble_start_pt
	kick
	midfielders
	shot_chance
	pass_score
	prev_shot_chance
	prev_pass_score
	check_dribbling_timer
	check_dribbling_timer_cutoff
	kick_eval

Static Public Attributes
float	DRIBBLE_TO_PASS_CUTOFF = 0.1
float	DRIBBLE_TO_SHOOT_CUTOFF = 0.03
int	MAX_DRIBBLE_DIST = 1 * .9
int	MIN_PASS_DIST = .2
int	CLEAR_FIELD_CUTOFF = constants.Field.Length * .2
int	CLEAR_DISTANCE_CUTOFF = constants.Field.Length * .1
float	INCREASING_CHANCE_CUTOFF = 0.05
tuple	FIELD_POS_WEIGHTS = (0.01, 3, 0.02)
tuple	PASSING_WEIGHTS = (2, 2, 15, 1)
tuple	DRIBBLING_WEIGHTS = (4, 2, 15, 1)
tuple	CHIP_FIELD_POS_WEIGHTS = (0.1, .2, 0.02)
tuple	CHIP_PASS_WEIGHTS = (2, 10, 0, 10)
tuple	NELDER_MEAD_ARGS

Inheritance diagram for gameplay.plays.offense.adaptive_formation.AdaptiveFormation:

Collaboration diagram for gameplay.plays.offense.adaptive_formation.AdaptiveFormation:

Member Data Documentation

NELDER_MEAD_ARGS

tuple gameplay.plays.offense.adaptive_formation.AdaptiveFormation.NELDER_MEAD_ARGS

static

Initial value:

=  (robocup.Point(0.5, 2), \
                        robocup.Point(0.01, 0.01), 1, 2, \
                        0.75, 0.5, 50, 1, 0.1)

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The documentation for this class was generated from the following file:

• soccer/gameplay/plays/offense/adaptive_formation.py