#include <blackboard.h>

Public Types
typedef std::shared_ptr< Blackboard >	Ptr

Public Member Functions
	Blackboard (std::shared_ptr< MyRobot > &p_myrobot1, std::shared_ptr< MyRobot > &p_myrobot2, const ros::NodeHandle &nh=ros::NodeHandle("~"))
	Construct Blackboard using two MyRobot. More...

virtual	~Blackboard ()

	Blackboard (const Blackboard &)=delete

	Blackboard (Blackboard &&)=delete

const std::shared_ptr< MyRobot > &	GetMyRobot1 ()
	Get number 1 of MyRobot. More...

const std::shared_ptr< MyRobot > &	GetMyRobot2 ()
	Get number 2 of MyRobot. More...

EnemyRobot &	GetEnemyRobot1 ()
	Get number 1 of EnemyRobot. More...

EnemyRobot &	GetEnemyRobot2 ()
	Get number 2 of EnemyRobot. More...

const EnemyRobot &	GetAnotherRobot (const EnemyRobot &enemy_robot)
	Given an EnemyRobot, returns its companion. More...

const std::shared_ptr< MyRobot > &	GetAnotherRobot (const std::shared_ptr< MyRobot > &p_my_robot) const
	Given an MyRobot, returns its companion. More...

void	Update ()
	Update all the information. Need to be called on every frame. More...

MyColor	GetMyColor () const
	Get the color of MyRobot. More...

RobotBehavior	GetCommonMoveType (const std::shared_ptr< MyRobot > &my_robot)
	Whether the non-defensive run (spinning run) is obstacle avoidance run or run at a certain angle. More...

std::vector< EnemyRobot >	GetDangerousOpp (const std::shared_ptr< MyRobot > &p_my_robot)
	Get `EnemyRobot`s that can attack us directly. More...

roborts_common::Point2D	GetAttackRunningPoint (const std::shared_ptr< MyRobot > &p_my_robot, const roborts_common::Point2D &another_partner_point)
	Get the point to run when attacking. More...

roborts_common::Point2D	GetSpecificRunPoint (const std::vector< PointValue > &running_interval, std::shared_ptr< MyRobot > p_my_robot, const roborts_common::Point2D &another_point)
	Get the point to run to, used by GetAttackRunningPoint. More...

const EnemyRobot &	GetEnemyRobotToAttack (const std::shared_ptr< MyRobot > &p_my_robot)
	Use analytic hierarchy process to obtain robots that need to attack. More...

const EnemyRobot &	GetCloserEnemyRobot (const std::shared_ptr< MyRobot > &p_my_robot)
	Get the EnemyRobot that closest to our robots. More...

double	GetKeepDirectionSafeDistance () const
	Get max safe distance. More...

double	GetKeepDirectionEffectWithDistance (double distance, double angle=45) const
	Obtain the damage percentage of a certain distance from the enemy and a certain deflection angle relative to the enemy (the angle formed by the line between the normal direction and the center of the robot) More...

double	GetShootSpeed (const std::shared_ptr< MyRobot > &p_my_robot, const roborts_common::Point2D &enemy_pose)

const EnemyRobot &	GetPrepareShootOpp (const std::shared_ptr< MyRobot > &my_robot)

roborts_common::Point2D	GetDefenseRunningPoint (const std::shared_ptr< MyRobot > &p_my_robot, roborts_common::Point2D another_point=roborts_common::Point2D(0, 0))

void	UpdateDefenseAllPotentialField (std::vector< std::vector< PointValue >> &security_matrix)

void	UpdateAreaOfPotentialField (std::vector< std::vector< PointValue >> &security_matrix, const roborts_common::Polygon2D &area, double value) const

double	GetDefensePotentialFieldSafeValue () const

bool	CanCooperatePartner (const roborts_common::Point2D &tar_point, const roborts_common::Point2D &partner_tar_point, const std::shared_ptr< MyRobot > &me, const std::shared_ptr< MyRobot > &partner) const

void	FindSafePoint (PointValue &safe_point, const std::shared_ptr< MyRobot > &p_my_robot, const std::vector< std::vector< PointValue >> &security_matrix, roborts_common::Point2D another_point)

double	GetFortPotentialField (double distance, double direction)

double	GetPlacePotentialField (double distance)

double	GetWallPotentialField (double distance)

void	UpdatePotentialField (std::vector< std::vector< PointValue >> &potential_field, const roborts_common::Polygon2D &object, const std::function< double(const roborts_common::Point2D &, const roborts_common::Polygon2D &)> &fun)

std::vector< std::vector< PointValue > >	DiscretizeMap (double discrete_unit) const

bool	IsCollide (std::shared_ptr< MyRobot > p_my_robot) const

std::vector< std::vector< PointValue > >	UpdatePotentialFieldInAttack (const std::shared_ptr< MyRobot > &p_my_robot, const EnemyRobot &enemy_to_attack)

double	CalculateEnemyToAttackPotentialField (const roborts_common::Point2D &pose_point, const roborts_common::Polygon2D &pose_polygon)

double	CalculateEnemyAnotherPotentialField (const roborts_common::Point2D &pose_point, const roborts_common::Polygon2D &pose_polygon)

std::vector< PointValue >	CalculateSuitRunPoint (const std::vector< std::vector< PointValue >> &potential_field)

double	GetDistanceWithObstacles (const roborts_common::Point2D &pose, const roborts_common::Polygon2D &polygon_2_d)

double	GetPointToEntityDistance (const roborts_common::Point2D &point_2_d, const roborts_common::Polygon2D &polygon_2_d) const

std::vector< roborts_common::Polygon2D >	GetHomePolygon ()

double	PredictedDistance (const roborts_common::Point2D &_point, const std::shared_ptr< MyRobot > &p_my_robot)

roborts_common::Polygon2D	GetHomePolygon (const std::shared_ptr< MyRobot > &p_my_robot) const

std::vector< roborts_common::Polygon2D >	GetEnemyPolygon () const

roborts_common::Polygon2D	GetEnemyPolygon (const EnemyRobot &enemy_robot) const

void	WriteFile (std::string file_name, std::vector< std::vector< PointValue >> &map, roborts_common::Point2D &most_suitable_point)

Static Public Member Functions
static std::shared_ptr< Blackboard >	GetBlackboard ()
	Create or get the single instance of Blackboard. More...

Private Member Functions
void	OutpostDetectedCallback (const roborts_msgs::OutpostDetected::ConstPtr &msg)

void	MyColorCallback (const roborts_msgs::RobotStatus::ConstPtr &msg)

void	GameSurvivorCallback (const roborts_msgs::GameSurvivor::ConstPtr &msg)

void	NextDecisionCallBackDeprecated (const std_msgs::Int32::ConstPtr &msg)

std::string	LoadValue (const std::string &value_name, const std::string &target_name)

std::string	FindValueInFile (const std::string &value_name, const std::string &file_name)

bool	UpdataValue (const std::string &value_name, const std::string &file_name, const std::string &value)

bool	AddValueInFile (const std::string &value_name, const std::string &value, const std::string &file_path)

bool	ChangeValueInFile (const std::string &value_name, const std::string &value, const std::string &file_path)

Private Attributes
ros::NodeHandle	nh_

ros::Subscriber	outpose_camera_sub_

ros::Subscriber	color_sub_

ros::Subscriber	game_survivor_sub_

ros::Publisher	is_collide_pub_

MyColor	my_color_

EnemyRobot	enemy_robot_1_

EnemyRobot	enemy_robot_2_

std::shared_ptr< Field >	field_

std::shared_ptr< MyRobot >	p_my_robot1_

std::shared_ptr< MyRobot >	p_my_robot2_

PredictionSystem	prediction_system_

double	defense_safe_value_ = 100.0

Static Private Attributes
static std::shared_ptr< Blackboard >	p_blackboard_ = nullptr

Detailed Description

Contains all information needed by the strategy The class implements single instance pattern, the instance is obtained by Blackboard::GetBlackboard().

Member Typedef Documentation

◆ Ptr

typedef std::shared_ptr<Blackboard> roborts_decision::Blackboard::Ptr

Constructor & Destructor Documentation

◆ Blackboard() [1/3]

Blackboard::Blackboard	(	std::shared_ptr< MyRobot > &	p_myrobot1,
		std::shared_ptr< MyRobot > &	p_myrobot2,
		const ros::NodeHandle &	nh = `ros::NodeHandle("~")`
	)

explicit

Construct Blackboard using two MyRobot.

◆ ~Blackboard()

Blackboard::~Blackboard ( )

virtualdefault

◆ Blackboard() [2/3]

roborts_decision::Blackboard::Blackboard ( const Blackboard & )

delete

◆ Blackboard() [3/3]

roborts_decision::Blackboard::Blackboard ( Blackboard && )

delete

Member Function Documentation

◆ AddValueInFile()

bool Blackboard::AddValueInFile	(	const std::string &	value_name,
		const std::string &	value,
		const std::string &	file_path
	)

private

在目标文件添加键值对（不检查是否字段存在）

Parameters

value_name
value
file_path

Returns

◆ CalculateEnemyAnotherPotentialField()

double Blackboard::CalculateEnemyAnotherPotentialField	(	const roborts_common::Point2D &	pose_point,
		const roborts_common::Polygon2D &	pose_polygon
	)

计算敌方另一个机器人（相对于被进攻的机器人）机器人的势场，根据距离确定, 直接取倒数即可

Parameters

pose_point,位置点
pose_polygon	，机器人矩形

Returns: 返回获得的value

◆ CalculateEnemyToAttackPotentialField()

double Blackboard::CalculateEnemyToAttackPotentialField	(	const roborts_common::Point2D &	pose_point,
		const roborts_common::Polygon2D &	pose_polygon
	)

计算敌方被进攻的机器人的势场，根据距离确定, 并结合障碍物位置

Parameters

pose_point,位置点
pose_polygon	，机器人矩形

Returns: 返回获得的value

◆ CalculateSuitRunPoint()

std::vector< PointValue > Blackboard::CalculateSuitRunPoint ( const std::vector< std::vector< PointValue >> & potential_field )

◆ CanCooperatePartner()

bool Blackboard::CanCooperatePartner	(	const roborts_common::Point2D &	tar_point,
		const roborts_common::Point2D &	partner_tar_point,
		const std::shared_ptr< MyRobot > &	me,
		const std::shared_ptr< MyRobot > &	partner
	)		const

判断是否可以配合同伴（原则法）不损害同伴：1. 跑点与当前位置的连线不相交；2. 跑点不重合（距离小于两个车长）；尽力帮助同伴：1. 响应同伴的信号（有余力才响应）；

Parameters

tar_point
partner_tar_point
partner

Returns

◆ ChangeValueInFile()

bool Blackboard::ChangeValueInFile	(	const std::string &	value_name,
		const std::string &	value,
		const std::string &	file_path
	)

private

更新目标文件目标字段的值（若有重复，全部更新；若无，也不检查）

Parameters

value_name
value
file_path

Returns

◆ DiscretizeMap()

std::vector< std::vector< PointValue > > Blackboard::DiscretizeMap ( double discrete_unit ) const

◆ FindSafePoint()

void Blackboard::FindSafePoint	(	PointValue &	safe_point,
		const std::shared_ptr< MyRobot > &	p_my_robot,
		const std::vector< std::vector< PointValue >> &	security_matrix,
		roborts_common::Point2D	another_point
	)

◆ FindValueInFile()

std::string Blackboard::FindValueInFile	(	const std::string &	value_name,
		const std::string &	file_name
	)

private

在指定文件中查找目标字段

Parameters

value_name
file_name

Returns: 返回目标字段的value（string）,若没找到，返回空字符串

◆ GameSurvivorCallback()

void Blackboard::GameSurvivorCallback ( const roborts_msgs::GameSurvivor::ConstPtr & msg )

private

◆ GetAnotherRobot() [1/2]

const EnemyRobot & Blackboard::GetAnotherRobot ( const EnemyRobot & enemy_robot )

Given an EnemyRobot, returns its companion.

◆ GetAnotherRobot() [2/2]

const std::shared_ptr< MyRobot > & Blackboard::GetAnotherRobot ( const std::shared_ptr< MyRobot > & p_my_robot ) const

Given an MyRobot, returns its companion.

◆ GetAttackRunningPoint()

roborts_common::Point2D Blackboard::GetAttackRunningPoint	(	const std::shared_ptr< MyRobot > &	p_my_robot,
		const roborts_common::Point2D &	another_partner_point
	)

Get the point to run when attacking.

Parameters

p_my_robot	The robot attacking
another_partner_point	The partner of the attacking robot

计算我方机器人进攻跑位点

打敌方其中一个机器人，远离另一个 1.1 通过层次分析法计算 1.2 总共考虑了三要素，距离，对敌方机器人状态估计，敌方机器人与我方机器人之间的障碍物个数
尽可能大的获取敌方视野 2.1 通过我方机器人和敌方机器人的势场以及障碍物的势场进行判断，尝试采用RRT算法，获取跑位点 2.2 敌方机器人势场在半径４ｍ以内为负，，４ｍ以外为正，但是势场无法穿越障碍物， 2.2.1　我方势场为负，但是我方势场可以穿越障碍物，尽可能选择势场绝对值小的地方 2.2.2　考虑我方势场前提：我方机器人状态较好 2.3 首先确定跑位半径，然后获得相应的离散的跑位点 2.4 半径扩大原则：如果跑位点不满足，扩大跑位范围 2.5 就近原则：跑点就近，但是要考虑绕行障碍物所带来的距离损耗 2.6 易防守原则：尽量靠近障碍物
考虑我方机器人 3.1 不损害同伴，跑位点不能重合，并且适当远离同伴 3.2 完成自己的跑位点 3.3 在同伴发出请求的情况下，尽可能帮助同伴

0. 获取进攻的对象

获取势场
确定跑位点区间直接选择value最小的1000个点
对跑位点进行评估，选取最优跑位点 3.1 获取距离最近的点 3.2 需要考虑对墙的距离，不能离墙太近 3.3 考虑另一个机器人的跑位点，在我方机器人状态良好的情况下，适当远离

◆ GetBlackboard()

std::shared_ptr< Blackboard > Blackboard::GetBlackboard ( )

static

Create or get the single instance of Blackboard.

◆ GetCloserEnemyRobot()

const EnemyRobot & Blackboard::GetCloserEnemyRobot ( const std::shared_ptr< MyRobot > & p_my_robot )

Get the EnemyRobot that closest to our robots.

◆ GetCommonMoveType()

RobotBehavior Blackboard::GetCommonMoveType ( const std::shared_ptr< MyRobot > & my_robot )

Whether the non-defensive run (spinning run) is obstacle avoidance run or run at a certain angle.

Parameters

my_robot std::shared_ptr to MyRobot

◆ GetDangerousOpp()

std::vector< EnemyRobot > Blackboard::GetDangerousOpp ( const std::shared_ptr< MyRobot > & p_my_robot )

Get EnemyRobots that can attack us directly.

Returns: a std::vector of dangerous EnemyRobot

◆ GetDefensePotentialFieldSafeValue()

double Blackboard::GetDefensePotentialFieldSafeValue ( ) const

◆ GetDefenseRunningPoint()

roborts_common::Point2D Blackboard::GetDefenseRunningPoint	(	const std::shared_ptr< MyRobot > &	p_my_robot,
		roborts_common::Point2D	another_point = `roborts_common::Point2D(0, 0)`
	)

不考虑同伴根据两个敌方位置、自己位置、障碍物位置进行躲藏保障安全统一：成倍扩张寻找范围，直到寻找到一个满足安全系数的位置寻找算法：将地图离散（80mm单位离散），通过势场算法将获得各离散点的安全度，找到一个范围内满足安全性要求的最安全的位置。无满足的，进行范围扩散障碍物问题：给障碍物添加势场影响，加范围，防止离墙过近

考虑同伴（原则法）不损害同伴、完成自己的目的，尽力帮助同伴不损害同伴：1. 跑点与当前位置的连线不相交；2. 跑点不重合（距离小于两个车长）；完成自己的目的：1. 进攻、防御的目的不会因为同伴而改变（若重合，选其他点）；尽力帮助同伴：1. 响应同伴的信号（有余力才响应）；

Parameters

p_my_robot
another_point

Returns

◆ GetDistanceWithObstacles()

double Blackboard::GetDistanceWithObstacles	(	const roborts_common::Point2D &	pose,
		const roborts_common::Polygon2D &	polygon_2_d
	)

◆ GetEnemyPolygon() [1/2]

std::vector< roborts_common::Polygon2D > Blackboard::GetEnemyPolygon ( ) const

◆ GetEnemyPolygon() [2/2]

roborts_common::Polygon2D Blackboard::GetEnemyPolygon ( const EnemyRobot & enemy_robot ) const

◆ GetEnemyRobot1()

EnemyRobot & Blackboard::GetEnemyRobot1 ( )

Get number 1 of EnemyRobot.

◆ GetEnemyRobot2()

EnemyRobot & Blackboard::GetEnemyRobot2 ( )

Get number 2 of EnemyRobot.

◆ GetEnemyRobotToAttack()

const EnemyRobot & Blackboard::GetEnemyRobotToAttack ( const std::shared_ptr< MyRobot > & p_my_robot )

Use analytic hierarchy process to obtain robots that need to attack.

◆ GetFortPotentialField()

double Blackboard::GetFortPotentialField	(	double	distance,
		double	direction
	)

◆ GetHomePolygon() [1/2]

std::vector< roborts_common::Polygon2D > Blackboard::GetHomePolygon ( )

◆ GetHomePolygon() [2/2]

roborts_common::Polygon2D Blackboard::GetHomePolygon ( const std::shared_ptr< MyRobot > & p_my_robot ) const

◆ GetKeepDirectionEffectWithDistance()

double Blackboard::GetKeepDirectionEffectWithDistance	(	double	distance,
		double	angle = `45`
	)		const

Obtain the damage percentage of a certain distance from the enemy and a certain deflection angle relative to the enemy (the angle formed by the line between the normal direction and the center of the robot)

◆ GetKeepDirectionSafeDistance()

double Blackboard::GetKeepDirectionSafeDistance ( ) const

Get max safe distance.

◆ GetMyColor()

MyColor Blackboard::GetMyColor ( ) const

Get the color of MyRobot.

◆ GetMyRobot1()

const std::shared_ptr< MyRobot > & Blackboard::GetMyRobot1 ( )

Get number 1 of MyRobot.

◆ GetMyRobot2()

const std::shared_ptr< MyRobot > & Blackboard::GetMyRobot2 ( )

Get number 2 of MyRobot.

◆ GetPlacePotentialField()

double Blackboard::GetPlacePotentialField ( double distance )

◆ GetPointToEntityDistance()

double Blackboard::GetPointToEntityDistance	(	const roborts_common::Point2D &	point_2_d,
		const roborts_common::Polygon2D &	polygon_2_d
	)		const

◆ GetPrepareShootOpp()

const EnemyRobot & Blackboard::GetPrepareShootOpp ( const std::shared_ptr< MyRobot > & my_robot )

◆ GetShootSpeed()

double Blackboard::GetShootSpeed	(	const std::shared_ptr< MyRobot > &	p_my_robot,
		const roborts_common::Point2D &	enemy_pose
	)

◆ GetSpecificRunPoint()

roborts_common::Point2D Blackboard::GetSpecificRunPoint	(	const std::vector< PointValue > &	running_interval,
		std::shared_ptr< MyRobot >	p_my_robot,
		const roborts_common::Point2D &	another_point
	)

Get the point to run to, used by GetAttackRunningPoint.

Parameters

running_interval	所有符合条件的跑位点
p_my_robot	我方执行此函数的机器人机器人
another_point	我方另一个机器人的跑位点

Returns: 返回具体跑位点

获取最终的跑位点，结合到我方机器人的距离，与障碍物的距离和另一个机器人的距离

◆ GetWallPotentialField()

double Blackboard::GetWallPotentialField ( double distance )

◆ IsCollide()

bool Blackboard::IsCollide ( std::shared_ptr< MyRobot > p_my_robot ) const

◆ LoadValue()

std::string Blackboard::LoadValue	(	const std::string &	value_name,
		const std::string &	target_name
	)

private

加载目标文件的某个值，若找不到，返回空字符串若目标是目录：在默认文件查找若目标是文件：在该文件查找

Parameters

value_name
target_name

Returns: 返回value的字符串

◆ MyColorCallback()

void Blackboard::MyColorCallback ( const roborts_msgs::RobotStatus::ConstPtr & msg )

private

◆ NextDecisionCallBackDeprecated()

void Blackboard::NextDecisionCallBackDeprecated ( const std_msgs::Int32::ConstPtr & msg )

private

◆ OutpostDetectedCallback()

void Blackboard::OutpostDetectedCallback ( const roborts_msgs::OutpostDetected::ConstPtr & msg )

private

◆ PredictedDistance()

double Blackboard::PredictedDistance	(	const roborts_common::Point2D &	_point,
		const std::shared_ptr< MyRobot > &	p_my_robot
	)

◆ UpdataValue()

bool Blackboard::UpdataValue	(	const std::string &	value_name,
		const std::string &	file_name,
		const std::string &	value
	)

private

查找目标路径的所有文件，将数据更新到对应文件中，在单个文件中不允许重名

Parameters

value_name
file_name

Returns

Author: lq

◆ Update()

void Blackboard::Update ( )

Update all the information. Need to be called on every frame.

◆ UpdateAreaOfPotentialField()

void Blackboard::UpdateAreaOfPotentialField	(	std::vector< std::vector< PointValue >> &	security_matrix,
		const roborts_common::Polygon2D &	area,
		double	value
	)		const

◆ UpdateDefenseAllPotentialField()

void Blackboard::UpdateDefenseAllPotentialField ( std::vector< std::vector< PointValue >> & security_matrix )

◆ UpdatePotentialField()

void Blackboard::UpdatePotentialField	(	std::vector< std::vector< PointValue >> &	potential_field,
		const roborts_common::Polygon2D &	object,
		const std::function< double(const roborts_common::Point2D &, const roborts_common::Polygon2D &)> &	fun
	)

◆ UpdatePotentialFieldInAttack()

std::vector< std::vector< PointValue > > Blackboard::UpdatePotentialFieldInAttack	(	const std::shared_ptr< MyRobot > &	p_my_robot,
		const EnemyRobot &	enemy_to_attack
	)

更新势场

所有点全部更新，暂时利用赛场上的个点，势场均为正
对于敌方需要打击的机器人势场４ｍ以内势场逐渐减小，４ｍ以外逐渐增加，绝对值从１－１００
对于敌方不需要打击的机器人算法同上
对于我方另一个机器人，算法同上。
有障碍物阻挡，距离无限远，可以考虑取倒数，即势场影响为０

◆ WriteFile()

void Blackboard::WriteFile	(	std::string	file_name,
		std::vector< std::vector< PointValue >> &	map,
		roborts_common::Point2D &	most_suitable_point
	)

Member Data Documentation

◆ color_sub_

ros::Subscriber roborts_decision::Blackboard::color_sub_

private

◆ defense_safe_value_

double roborts_decision::Blackboard::defense_safe_value_ = 100.0

private

◆ enemy_robot_1_

EnemyRobot roborts_decision::Blackboard::enemy_robot_1_

private

◆ enemy_robot_2_

EnemyRobot roborts_decision::Blackboard::enemy_robot_2_

private

◆ field_

std::shared_ptr<Field> roborts_decision::Blackboard::field_

private

◆ game_survivor_sub_

ros::Subscriber roborts_decision::Blackboard::game_survivor_sub_

private

◆ is_collide_pub_

ros::Publisher roborts_decision::Blackboard::is_collide_pub_

private

◆ my_color_

MyColor roborts_decision::Blackboard::my_color_

private

◆ nh_

ros::NodeHandle roborts_decision::Blackboard::nh_

private

◆ outpose_camera_sub_

ros::Subscriber roborts_decision::Blackboard::outpose_camera_sub_

private

◆ p_blackboard_

std::shared_ptr< Blackboard > Blackboard::p_blackboard_ = nullptr

staticprivate

◆ p_my_robot1_

std::shared_ptr<MyRobot> roborts_decision::Blackboard::p_my_robot1_

private

◆ p_my_robot2_

std::shared_ptr<MyRobot> roborts_decision::Blackboard::p_my_robot2_

private

◆ prediction_system_

PredictionSystem roborts_decision::Blackboard::prediction_system_

private

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

src/ICRA-Firefly-RoboRTS/roborts_decision/blackboard/blackboard.h
src/ICRA-Firefly-RoboRTS/roborts_decision/blackboard/blackboard.cpp

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ Blackboard() [1/3]

◆ ~Blackboard()

◆ Blackboard() [2/3]

◆ Blackboard() [3/3]

Member Function Documentation

◆ AddValueInFile()

◆ CalculateEnemyAnotherPotentialField()

◆ CalculateEnemyToAttackPotentialField()

◆ CalculateSuitRunPoint()

◆ CanCooperatePartner()

◆ ChangeValueInFile()

◆ DiscretizeMap()

◆ FindSafePoint()

◆ FindValueInFile()

◆ GameSurvivorCallback()

◆ GetAnotherRobot() [1/2]

◆ GetAnotherRobot() [2/2]

◆ GetAttackRunningPoint()

◆ GetBlackboard()

◆ GetCloserEnemyRobot()

◆ GetCommonMoveType()

◆ GetDangerousOpp()

◆ GetDefensePotentialFieldSafeValue()

◆ GetDefenseRunningPoint()

◆ GetDistanceWithObstacles()

◆ GetEnemyPolygon() [1/2]

◆ GetEnemyPolygon() [2/2]

◆ GetEnemyRobot1()

◆ GetEnemyRobot2()

◆ GetEnemyRobotToAttack()

◆ GetFortPotentialField()

◆ GetHomePolygon() [1/2]

◆ GetHomePolygon() [2/2]

◆ GetKeepDirectionEffectWithDistance()

◆ GetKeepDirectionSafeDistance()

◆ GetMyColor()

◆ GetMyRobot1()

◆ GetMyRobot2()

◆ GetPlacePotentialField()

◆ GetPointToEntityDistance()

◆ GetPrepareShootOpp()

◆ GetShootSpeed()

◆ GetSpecificRunPoint()

◆ GetWallPotentialField()

◆ IsCollide()

◆ LoadValue()

◆ MyColorCallback()

◆ NextDecisionCallBackDeprecated()

◆ OutpostDetectedCallback()

◆ PredictedDistance()

◆ UpdataValue()

◆ Update()

◆ UpdateAreaOfPotentialField()

◆ UpdateDefenseAllPotentialField()

◆ UpdatePotentialField()

◆ UpdatePotentialFieldInAttack()

◆ WriteFile()

Member Data Documentation

◆ color_sub_

◆ defense_safe_value_

◆ enemy_robot_1_

◆ enemy_robot_2_

◆ field_

◆ game_survivor_sub_

◆ is_collide_pub_

◆ my_color_

◆ nh_

◆ outpose_camera_sub_

◆ p_blackboard_

◆ p_my_robot1_