gameplay.tactics.defense.Defense Class Reference

Classes
class	State

Public Member Functions
def	__init__ (self, defender_priorities=[20)
def	debug (self)
def	debug (self, value)
def	should_clear_ball (self)
def	execute_running (self)
def	on_enter_clearing (self)
def	on_exit_clearing (self)
def	find_and_set_defender_location (self)
def	get_threat_list (self, unused_threat_handlers)
	Gets list of threats. More...
def	estimate_risk_score (self, bot, excluded_bots=[])
	Estimate risk score based on old defense.py play. More...
def	estimate_potential_recievers_score (self, bot)
	Estimate potential reciever score based on old defense.py play. More...
def	assign_handlers_to_threats (self, assigned_handlers, unused_threat_handlers, threats_to_block)
	Assigns the defenders to threats. More...
def	set_defender_block_lines (self, threats_to_block, assigned_handlers)
	Assigns the locations for each robot to block given a threat and list of robots to block each threat. More...
def	role_requirements (self)
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
	debug
	kick_eval

Static Public Attributes
float	DEFENSE_ROBOT_CHANGE_COST = 0.05

Inheritance diagram for gameplay.tactics.defense.Defense:

Collaboration diagram for gameplay.tactics.defense.Defense:

Member Function Documentation

assign_handlers_to_threats()

def gameplay.tactics.defense.Defense.assign_handlers_to_threats	(		self,
			assigned_handlers,
			unused_threat_handlers,
			threats_to_block
	)

Assigns the defenders to threats.

Parameters

assigned_handlers	List of list, [ A ... ] where A represents a list of defenders assigned to threat A
unused_threat_handlers	List of defenders that are unused currently
threats_to_block	List of threats that we have to deal with, tuple with position and threat score

estimate_potential_recievers_score()

def gameplay.tactics.defense.Defense.estimate_potential_recievers_score	(		self,
			bot
	)

Estimate potential reciever score based on old defense.py play.

Parameters

bot	Robot to estimate score at

Returns

The potential receiver score at that point

estimate_risk_score()

def gameplay.tactics.defense.Defense.estimate_risk_score	(		self,
			bot,
			excluded_bots = []
	)

Estimate risk score based on old defense.py play.

Parameters

bot	Robot to estimate score at
exluded_Bots	Robots to exclude from the defense when calculating shot

Returns

The risk score at that point (Shot chance * pass chance)

get_threat_list()

def gameplay.tactics.defense.Defense.get_threat_list	(		self,
			unused_threat_handlers
	)

Gets list of threats.

Returns

tuple of threat positions and score (unordered)

set_defender_block_lines()

def gameplay.tactics.defense.Defense.set_defender_block_lines	(		self,
			threats_to_block,
			assigned_handlers
	)

Assigns the locations for each robot to block given a threat and list of robots to block each threat.

Parameters

threats_to_block	List of threats that we have to deal with, tuple with position and threat score
assigned_handlers	List of list, [ A ... ] where A represents a list of defenders assigned to threat A

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

• soccer/gameplay/tactics/defense.py