Diff: common.h

Revision:

0:fb4c529248d7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/common.h	Sun Apr 27 02:37:13 2014 +0000
@@ -0,0 +1,239 @@
+
+enum{
+    FRONT = 0,
+    LEFT,
+    BACK,
+    RIGHT,
+};
+enum{
+    VX = 0,
+    VY,
+};
+
+const double way16[16][2] = {
+    {0,1},
+    {0.5,0.866},
+    {0.707,0.707},
+    {0.866,0.5},
+    {1.0},
+    {0.866,-0.5},
+    {0.707,-0.707},
+    {0.5,-0.866},
+    {0,-1},
+    {-0.5,-0.866},
+    {-0.707,-0.707},
+    {-0.866,-0.5},
+    {-1,0},
+    {-0.866,0.5},
+    {-0.707,0.707},
+    {-0.5,0.866}
+    };
+
+/*距離に応じた調整値、ボールの指定範囲外なら進む向きが大きい？,
+範囲内なら外に出ようとする力nearに大きな
+調整がかかる、これも配列*/
+
+const double modulate_near[17] = {//0~4 = -5,-4,-3,-2,-1,,5 = 0,,6~16=1,2,3.....10
+    1.20,1.1,1.05,1.02,1.01,1,1,1,1,1,1,1,1,1,1,1,1
+    };
+    
+const double modulate_go[17] = {
+    1,1,1,1,1,1,1.01,1.02,1.03,1.05,1.07,1.08,1.10,1.12,1.15,1.15,1.15
+    };
+
+const double modulate[17] = {
+    1.1,1.05,1.02,1.02,1.01,1,1.01,1.02,1.03,1.05,1.07,1.08,1.15,1.15,1.15,1.15,1.20
+    };
+
+//defense move action support.
+const double apply[9] = {
+    1.4,1.4,1.3,1.2,1.15,1.15,1.10,1.05,1.0
+    };
+
+
+const double near0[10][2] = {//go go goボールと一定感覚を保とうとする輩,これまた角度ではなく値を直接投げておく
+    {-1,0},
+    {-0.505,0.505},
+    {-0.3,0.866},
+    {0,1},
+    {0.3,0.866},
+    {0.505,0.505},
+    {1,0},
+    {0.3,-0.3},//0.707,-0.707
+    {0,-1.0},
+    {-0.3,-0.3}//-0.707,-0.707
+    };
+    
+const double near1[10][2] = {//back back back
+    {1,0},
+    {0.5,-0.5},
+    {0.25,0},//0.5,-0.866
+    {0,0.2},
+    {-0.25,0},//-0.5,-0.866
+    {-0.5,-0.5},
+    {-1,0},
+    {-0.707,0.303},//-0.707,0.707
+    {0,0.4},
+    {0.707,0.303}//0.707,0.707
+    };
+    
+const double go[10][2] = {//ir_numに沿ったそれぞれの動きを直接配列に投げて置く参照、ir_action0~9
+    {0,-0.433},
+    {-0.303,-0.757},//0.303
+    {-0.3,0},
+    {0,0.8},//other block
+    {0.3,0},
+    {0.303,-0.757},//0.303
+    {0,-0.433},
+    {0,-1},
+    {0,-0.5},//other block@ir_action8
+    {0,-1},
+    };
+    
+const int keep_dist[10] = {//ir_num[0~9]
+    45,48,45,44,45,50,49,41,49,39//45,49,444444,
+    };
+    
+const int keep_ping[4] = {
+    0,58,30,56
+    };
+    
+const int keep_pingSTRONG[4] = {
+    0,40,20,36
+    };
+    
+const int keep_ball[10] = {
+    37,33,27,27,27,30,34,31,32,32//28
+    };
+
+const double goal_state1[12][2] = {
+    {0.866,0.5},
+    {0.866,0.5},
+    {0.866,0.5},
+    {0.866,0.5},
+    {0.866,0.5},
+    {0.433,0.25},
+    {0.433,0.25},
+    {0.433,0.25},
+    {0.433,0},
+    {0,0},
+    {0,0},
+    {0.0}
+    };
+
+const double goal_state2[12][2] = {
+    {0,-1},
+    {0,-0.8},
+    {0,-0.6},
+    {0,-0.4},
+    {0,-0.2},
+    {0,0},
+    {0,0},
+    {0,0},
+    {0,0},
+    {0,0.1},
+    {0,0.3},
+    {0,0.4}
+    };
+    
+const double goal_state3[12][2] = {
+    {-0.866,0.5},
+    {-0.866,0.5},
+    {-0.866,0.5},
+    {-0.866,0.5},
+    {-0.866,0.5},
+    {-0.433,0.25},
+    {-0.433,0.25},
+    {-0.433,0.25},
+    {-0.433,0},
+    {0,0},
+    {0,0},
+    {0.0}
+    };
+
+const double ball_state0[10][2] = {//ir_num[0~9]
+    {-1,-0.5},
+    {-0.866,0.2},
+    {-0.707,0.5},
+    {0,0},
+    {0.707,0.5},
+    {0.866,0.2},
+    {1,-0.5},
+    {0.7,-1},
+    {0,-1},
+    {-0.7,-1}
+    };
+    
+const double ball_state1[10][2] = {//ir_num[0~9]
+    {-1.0,-0.3},
+    {-0.9,-0.4},
+    {-0.9,0.866},
+    {0,1},
+    {0.9,0.866},
+    {0.9,-0.4},
+    {1.0,-0.3},
+    {-0.404,-0.7},
+    {0,0},//other comand
+    {0.404,-0.7}  
+    };
+    
+
+const double strongPing1[12][2] = {
+    {0.866,0.5},
+    {0.866,0.5},
+    {0.866,0.5},
+    {0.866,0.5},
+    {0.577,0.5},
+    {0.577,0.5},
+    {0.577,0.25},
+    {0.577,0.25},
+    {0.433,0.1},
+    {0.211,0.1},
+    {0,0},
+    {0.0}
+    };
+
+const double strongPing2[12][2] = {
+    {0,0},
+    {0,0},
+    {0,0},
+    {0,0},
+    {0,0},
+    {0,0},
+    {0,0},
+    {0,0},
+    {0,0},
+    {0,0},
+    {0,0.3},
+    {0,0.5}
+    };
+   
+const double strongPing3[12][2] ={
+    {-0.866,0.5},
+    {-0.866,0.5},
+    {-0.866,0.5},
+    {-0.866,0.5},
+    {-0.866,0.5},
+    {-0.577,0.5},
+    {-0.577,0.25},
+    {-0.577,0.25},
+    {-0.433,0.1},
+    {-0.211,0.1},
+    {0,0},
+    {0.0}
+  };    
+
+/*
+ir_number position
+
+    2   3   4
+ 1 /----------\5
+  /            \
+0|              |6
+ \              /
+9 \____________/ 7
+        8
+
+
+
+*/
\ No newline at end of file