function my_marking_ball(name_) local idis = function() return CRole2BallDir(name_) end local bx = function() local r = get_length(-300, 0, CGetBallX(), CGetBallY()) * 0.5 local px, py = polar2vector(r, idis()) return -300 + px end local by = function () local r = get_length(-300, 0, CGetBallX(), CGetBallY()) * 0.5 local px, py = polar2vector(r, idis()) return 0 + py end return task.GotoPos(name_, bx, by, idis) end function my_marking_auto(name_, enemy_, num_) --my_marking的改进版,实现自动盯人(num_表示防第几个人) --当num_有参数时,第二个参数可以随便填 local get_num = function() if num_ ~= nil then local test_data = {} test_data = CGetOppNums() local opp_data = get_num(test_data[num_ - 1]) - 1 return opp_data else return enemy_ end end local idis = function () --我方球球门和敌方的夹角 return get_angle(-300, 0, COppNum_x(get_num()), COppNum_y(get_num())) end local bx = function () local r = get_length(-300, 0, COppNum_x(get_num()), COppNum_y(get_num())) * 0.5 local px, py = polar2vector(r, math.pi + idis()) return COppNum_x(get_num()) + px end local by = function () local r = get_length(-300, 0, COppNum_x(get_num()), COppNum_y(get_num())) * 0.5 local px, py = polar2vector(r, math.pi + idis()) return COppNum_y(get_num()) + py end return task.GotoPos(name_, bx, by, idis) end -------------------------
时间: 2023-11-27 15:05:24 浏览: 30
这段代码是用 Lua 语言编写的,是一个足球游戏中的 AI 策略,用于给球员分配任务。具体来说,这段代码包含了两个函数:my_marking_ball 和 my_marking_auto。
函数 my_marking_ball 的作用是给一个球员分配任务,让他去标记(盯防)对方球员。函数内部定义了三个局部函数:idis、bx 和 by。其中,idis 函数用于计算我方球门和敌方球员之间的夹角;bx 和 by 函数用于计算球员需要移动到的位置。最后,函数返回一个 GotoPos 任务,让球员移动到指定位置。
函数 my_marking_auto 的作用和 my_marking_ball 类似,但是它实现了自动盯人,可以自动找到需要盯防的敌方球员。在函数内部,定义了四个局部函数:get_num、idis、bx 和 by。其中,get_num 函数用于获取需要盯防的敌方球员编号;idis 函数用于计算我方球门和敌方球员之间的夹角;bx 和 by 函数用于计算球员需要移动到的位置。最后,函数返回一个 GotoPos 任务,让球员移动到指定位置。
相关问题
CarlaLaneInvasionEvent.LANE_MARKING_BROKEN, CarlaLaneInvasionEvent.LANE_MARKING_OTHER,CarlaLaneInvasionEvent.LANE_MARKING_SOLID
, CarlaLaneInvasionEvent.LANE_MARKING_BROKEN_DASHED, CarlaLaneInvasionEvent.LANE_MARKING_DOUBLE_SOLID, CarlaLaneInvasionEvent.LANE_MARKING_CURB, CarlaLaneInvasionEvent.LANE_MARKING_GRASS, CarlaLaneInvasionEvent.LANE_MARKING_SNOW, CarlaLaneInvasionEvent.LANE_MARKING_OTHER_TEXTURE, CarlaLaneInvasionEvent.LANE_MARKING_BUMPS, CarlaLaneInvasionEvent.LANE_MARKING_ZEBRA, CarlaLaneInvasionEvent.LANE_MARKING_DIAGONAL_BROKEN, CarlaLaneInvasionEvent.LANE_MARKING_DIAGONAL_SOLID, CarlaLaneInvasionEvent.LANE_MARKING_CURB_INNER, CarlaLaneInvasionEvent.LANE_MARKING_CURB_OUTER, CarlaLaneInvasionEvent.LANE_MARKING_RAILWAY, CarlaLaneInvasionEvent.LANE_MARKING_STOP, CarlaLaneInvasionEvent.LANE_MARKING_ARROW, CarlaLaneInvasionEvent.LANE_MARKING_BIKE_LANE, CarlaLaneInvasionEvent.LANE_MARKING_RAILWAY_CROSSING, CarlaLaneInvasionEvent.LANE_MARKING_RAILWAY_STOP, CarlaLaneInvasionEvent.LANE_MARKING_FREE_SPACE, CarlaLaneInvasionEvent.LANE_MARKING_RAMP, CarlaLaneInvasionEvent.LANE_MARKING_SPEED_BUMP, CarlaLaneInvasionEvent.LANE_MARKING_TOLL_BOOTH, CarlaLaneInvasionEvent.LANE_MARKING_TRAFFIC_SIGNAL, CarlaLaneInvasionEvent.LANE_MARKING_TURN_LANE, CarlaLaneInvasionEvent.LANE_MARKING_YIELD_SIGN, CarlaLaneInvasionEvent.LANE_MARKING_NO_OVERTAKING, CarlaLaneInvasionEvent.LANE_MARKING_NO_PARKING, CarlaLaneInvasionEvent.LANE_MARKING_NO_STOPPING, CarlaLaneInvasionEvent.LANE_MARKING_NO_STANDING, CarlaLaneInvasionEvent.LANE_MARKING_PEDESTRIAN_CROSSING, CarlaLaneInvasionEvent.LANE_MARKING_SCHOOL_ZONE, CarlaLaneInvasionEvent.LANE_MARKING_TRAFFIC_ISLAND, CarlaLaneInvasionEvent.LANE_MARKING_ROUNDABOUT, CarlaLaneInvasionEvent.LANE_MARKING_MERGE_LEFT, CarlaLaneInvasionEvent.LANE_MARKING_MERGE_RIGHT, CarlaLaneInvasionEvent.LANE_MARKING_MERGE_SIDE, CarlaLaneInvasionEvent.LANE_MARKING_DIVIDER, CarlaLaneInvasionEvent.LANE_MARKING_BUS_LANE, CarlaLaneInvasionEvent.LANE_MARKING_MOTORWAY, CarlaLaneInvasionEvent.LANE_MARKING_PEDESTRIAN_LANE, CarlaLaneInvasionEvent.LANE_MARKING_SHARED_ZONE, CarlaLaneInvasionEvent.LANE_MARKING_TURNING_LANE, CarlaLaneInvasionEvent.LANE_MARKING_SPLIT_LANE, CarlaLaneInvasionEvent.LANE_MARKING_LANE_END, CarlaLaneInvasionEvent.LANE_MARKING_LANE_START, CarlaLaneInvasionEvent.LANE_MARKING_LANE_CHANGE, CarlaLaneInvasionEvent.LANE_MARKING_SIDEWALK, CarlaLaneInvasionEvent.LANE_MARKING_CROSSWALK, CarlaLaneInvasionEvent.LANE_MARKING_SIDE_CURB, CarlaLaneInvasionEvent.LANE_MARKING_TUNNEL, CarlaLaneInvasionEvent.LANE_MARKING_BRIDGE, CarlaLaneInvasionEvent.LANE_MARKING_COVERED, CarlaLaneInvasionEvent.LANE_MARKING_RAMP_UP, CarlaLaneInvasionEvent.LANE_MARKING_RAMP_DOWN, CarlaLaneInvasionEvent.LANE_MARKING_SHOULDER, CarlaLaneInvasionEvent.LANE_MARKING_SHOULDER_GRASS, CarlaLaneInvasionEvent.LANE_MARKING_SHOULDER_SNOW, CarlaLaneInvasionEvent.LANE_MARKING_SHOULDER_OTHER, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_LINE, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_SIGN, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_TEXT, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_ARROW, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_NUMBER, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_OTHER, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_ENTRY, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_EXIT, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_BORDER, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_SPACE, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_PERIMETER, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_LOADING, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_UNLOADING, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_SERVICE, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_PRIVATE, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_PUBLIC, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_RESIDENTIAL, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_BUSINESS, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_VISITOR, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_STAFF, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_DISABLED, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_MOTORCYCLE, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_BICYCLE, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_CARPOOL, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_EMERGENCY, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_TAXI, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_TRUCK, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_TRAILER, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_BOAT, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_AIRCRAFT, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_OTHER_VEHICLE, CarlaLaneInvasionEvent.LANE_MARKING_PARKING_ZONE_OTHER_OBJECT
解释代码:initial_marking[i][0] = max(0, marking[i] - X1[i][0] - X2.T.dot(observability_matrix[:, i])[0])
这行代码是针对Petri网模型中的initial marking(初始标记)进行计算的。
Petri网模型是一种用于描述并发系统的数学模型。在Petri网模型中,每个库所(place)代表一个状态,每个变迁(transition)代表一种操作或事件。当满足一定的条件时,变迁可以发生,从而改变库所中token的数量,也就是改变系统的状态。
initial marking指的是Petri网模型中每个库所的初始token数量。该行代码计算initial marking中第i个库所的初始token数量。
具体来说,该行代码中的max函数表示如果X1[i][0] + X2.T.dot(observability_matrix[:, i])[0]大于marking[i](库所i的token数量),则initial marking[i][0]为0,否则为marking[i] - X1[i][0] - X2.T.dot(observability_matrix[:, i])[0]。其中,X1和X2是模型参数,observability_matrix是观测矩阵,dot表示矩阵的乘法。