ロボカップ2013のジャパンオープンメインプログラム

## common.h

Committer:
ryuna
Date:
2014-04-27
Revision:
0:fb4c529248d7

### File content as of revision 0:fb4c529248d7:

```
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？,

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

*/
```