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path_planner 0.1.0 version

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徐学颢
2026-03-24 18:33:14 +08:00
parent 9e77e4d6e0
commit bc288cc2ee
3 changed files with 534 additions and 3 deletions
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12
agent/agent.py
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@@ -6,6 +6,7 @@ import numpy as np
from utils.math_ops import MathOps
from world.commons.field import FIFAField, HLAdultField, Soccer7vs7Field
from world.commons.play_mode import PlayModeEnum, PlayModeGroupEnum
from agent.path_planner import PathPlanner
logger = logging.getLogger()
@@ -60,6 +61,7 @@ class Agent:
self.agent: Base_Agent = agent
self.is_getting_up: bool = False
self.path_planner = PathPlanner(agent.world)
def update_current_behavior(self) -> None:
"""
@@ -128,16 +130,22 @@ class Agent:
desired_orientation = MathOps.vector_angle(ball_to_goal)
if not aligned or not behind_ball:
self.path_planner.set_target(carry_ball_pos)
current_time = self.agent.world.server_time
next_target = self.path_planner.update(my_pos, current_time=current_time) if next_target is not None else carry_ball_pos
self.agent.skills_manager.execute(
"Walk",
target_2d=carry_ball_pos,
target_2d=next_target,
is_target_absolute=True,
orientation=None if np.linalg.norm(my_pos - carry_ball_pos) > 2 else desired_orientation
)
else:
self.path_planner.set_target(their_goal_pos)
current_time = self.agent.world.server_time
next_target = self.path_planner.update(my_pos, current_time=current_time) if next_target is not None else their_goal_pos
self.agent.skills_manager.execute(
"Walk",
target_2d=their_goal_pos,
target_2d=next_target,
is_target_absolute=True,
orientation=desired_orientation
)