Merge branch 'fsm' into passReceive

role/_GoToPoint_.py

@@ -42,7 +42,7 @@
 def init(_kub,target,theta):
     global kub,GOAL_POINT,rotate,FLAG_turn,FLAG_move,FIRST_CALL
     kub = _kub
-    GOAL_POINT = point_2d()
+    GOAL_POINT = Vector2D()
     rotate = theta
     GOAL_POINT.x = target.x
     GOAL_POINT.y = target.y

utils/math_functions.py

@@ -105,6 +105,7 @@ def intersection_with_line(self, line2):
 		try:
 			P.x = (c2 - c1) / (m1 - m2)
 			P.y = (m1 * c2 - m2 * c1) / (m1 - m2)
+			return P
 		except:
 			return None
 		return P
@@ -166,7 +167,13 @@ def normalized_vector(self):
 		# angle = math.atan(self.slope)
 		angle = self.angle
 		return Vector2D(math.cos(angle), math.sin(angle))
-
+
+	def nearest_point_on_line(self,point):
+		t=(point.y-self.point.y)*math.sin(self.angle)+(point.x-self.point.x)*(math.cos(self.angle))
+		x1=self.point.x+math.cos(self.angle)*t
+		y1=self.point.y+math.sin(self.angle)*t
+		point=Vector2D(x1,y1)
+		return point
 
 	##
 	## @var slope  
@@ -239,10 +246,10 @@ def stan_inverse(self,y,x):
 		return atan2(y,x)+3.14159265
 
 
-# def getPointBehindTheBall(point ,theta):
-#   x = point.x +(3.5 * BOT_RADIUS) *(math.cos(theta))
-#   y = point.y +(3.5 * BOT_RADIUS) *(math.sin(theta))
-#   return Vector2D(int(x), int(y))
+def getPointBehindTheBall(point ,theta, factor=3.5):
+  x = point.x +(factor * BOT_RADIUS) *(math.cos(theta))
+  y = point.y +(factor * BOT_RADIUS) *(math.sin(theta))
+  return Vector2D(int(x), int(y))
 
 def vicinity_points(point1, point2, thresh=10):
 	return dist(point1, point2) < thresh
@@ -289,4 +296,4 @@ def kub_has_ball(state, kub_id):
 	theta2 = math.atan2(state.ballPos.y - state.homePos[kub_id].y,
 						state.ballPos.x - state.homePos[kub_id].x)
 	return vicinity_theta(theta1, theta2, thresh=0.25) and vicinity_points(state.homePos[kub_id],
-						state.ballPos, thresh=BOT_RADIUS * 1.5)
+						state.ballPos, thresh=BOT_RADIUS * 1.5)

utils/state_functions.py

@@ -37,7 +37,7 @@ def ball_moving_towards_our_goal(state):
         ptA = Vector2D(-HALF_FIELD_MAXX, DBOX_HEIGHT)
         ptB = Vector2D(-HALF_FIELD_MAXX, -DBOX_HEIGHT)
         defend_line = Line(point1=ptA,point2=ptB)
-        opponent_aim = Line.intersection_with_line(ball_movement)
+        opponent_aim = defend_line.intersection_with_line(ball_movement)
         if opponent_aim.y > -DBOX_HEIGHT and opponent_aim.y < DBOX_HEIGHT:
             return True
     return False
@@ -84,7 +84,7 @@ def closest_opponent(state, position):
 def our_bot_closest_to_ball(state):
     distance_from_ball = 99999999
     our_bot_closest_to_ball = 0
-    for i in range(state.homePos.size()):
+    for i in range(len(state.homePos)):
         dist = math.sqrt(pow((state.homePos[i].x - state.ballPos.x),2) + pow((state.homePos[i].y - state.ballPos.y) , 2))
         if dist < distance_from_ball :
                 distance_from_ball = dist
@@ -95,7 +95,7 @@ def our_bot_closest_to_ball(state):
 def opp_bot_closest_to_ball(state):
     distance_from_ball = 99999999
     opp_bot_closest_to_ball = 0
-    for i in range(state.awayPos.size()):
+    for i in range(len(state.awayPos)):
         dist = math.sqrt(pow((state.awayPos[i].x - state.ballPos.x),2) + pow((state.awayPos[i].y - state.ballPos.y) , 2))
         if dist < distance_from_ball :
                 distance_from_ball = dist