Decision Module  1.0
ICRA2020 AI Challenge Northwestern Polytechnical University Aoxiang Team Strategy Code
Public Member Functions | List of all members
roborts_decision::ToWorseOppShootStrategy Class Reference

#include <toWorseOpp_shoot_strategy.h>

Inheritance diagram for roborts_decision::ToWorseOppShootStrategy:
roborts_decision::AbstractCommonStrategy

Public Member Functions

 ToWorseOppShootStrategy (const std::shared_ptr< MyRobot > &pMyRobot, const std::shared_ptr< Blackboard > &pBlackboard)
 
void run ()
 
StrategyID getID () override
 
virtual bool CanExecuteMe ()
 
virtual BehaviorState Update ()
 
virtual void Reset ()
 
- Public Member Functions inherited from roborts_decision::AbstractCommonStrategy
 AbstractCommonStrategy (std::shared_ptr< MyRobot > _p_my_robot_, std::shared_ptr< Blackboard > _p_blackboard_)
 

Additional Inherited Members

- Protected Attributes inherited from roborts_decision::AbstractCommonStrategy
std::shared_ptr< MyRobot > p_my_robot_
 
std::shared_ptr< Blackboard > p_blackboard_
 
BehaviorState behavior_state_
 

Constructor & Destructor Documentation

◆ ToWorseOppShootStrategy()

roborts_decision::ToWorseOppShootStrategy::ToWorseOppShootStrategy ( const std::shared_ptr< MyRobot > &  pMyRobot,
const std::shared_ptr< Blackboard > &  pBlackboard 
)

Member Function Documentation

◆ CanExecuteMe()

virtual bool roborts_decision::ToWorseOppShootStrategy::CanExecuteMe ( )
inlinevirtual

Implements roborts_decision::AbstractCommonStrategy.

◆ getID()

StrategyID roborts_decision::ToWorseOppShootStrategy::getID ( )
inlineoverridevirtual

Implements roborts_decision::AbstractCommonStrategy.

◆ Reset()

virtual void roborts_decision::ToWorseOppShootStrategy::Reset ( )
inlinevirtual

Implements roborts_decision::AbstractCommonStrategy.

◆ run()

void roborts_decision::ToWorseOppShootStrategy::run ( )
virtual

评估函数，评估具体的射击速度，射击子弹数量

  1. 考虑敌方机器人位姿 1.1 敌方机器人为倾斜角跑位 1.1.1 根据距离设置射击速度，距离越大，速度越小 1.1.2 如果姿态固定，尽可能多射击 1.2 敌方机器人为旋转跑 1.2.1 尽可能降低射击速度 1.2.2 如果可以捕捉装甲板，多射击，否则点射
  2. 不考虑敌方位姿 2.1 根据距离进行判断，距离近射击速度越大 2.2 射击数量均匀

注：暂选方案一

Implements roborts_decision::AbstractCommonStrategy.

◆ Update()

virtual BehaviorState roborts_decision::ToWorseOppShootStrategy::Update ( )
inlinevirtual

Implements roborts_decision::AbstractCommonStrategy.

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