合肥工业大学机器人技术（RoboCup 2D）实验五十题及主要函数含义

关于如何进行一场球赛可参考我之前的博文
博文连接点这里哦

主要函数含义：

soc = dribble(ang, DRIBBLE_FAST); //带球（角度，快带）
soc = dribble(ang, DRIBBLE_Slow);
soc=dribble(ang,DRIBBLE_WITHBALL);//安全带球
soc=leadingPass(o,1);//向目标o传球至o前方1m
soc=kickBallCloseToBody(-120);//球围绕自身逆时针转
soc=kickTo(VecPosition(0,0),SS->getBallSpeedMax())//向点（0,0）以最大速度射门
soc=mark(OBJECT_BALL,5,MARK_GOAL);//盯防
soc=intercept(true)//断球
soc=ShootToGoalex(OBJECT_GOAL_L)//射门
soc=moveToPos(pos,20);//以20度角靠近目标点pos
ACT->putCommandInQueue(soc);       //将动作放入命令队列中
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc)); //做动作的同时将脖子转向球
AngDeg  ang=(VecPosition(52.5,0)-posAgent).getDirection()//求球门与我连线的角度
Circle cir(posAgent,7);//定义一个自身为圆心半径7m的圆
WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);//获取圆内对手的个数
WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,posAgent);//获取离我最近的对手
WM->getGlobalPosition(o);//获取o的坐标
WM->isOpponentAtAngle(30,30)//判断前方-30到30是否有对手
WM->getCurrentCircle()//获取周期数    
SS->getGoalWidth()//获取球门宽度
WM->getBallPos().getX()//获取球的x坐标
WM->getAgentObjectType（）//获取己方球员类型
WM->getOppGoalieType()//获取对方球员类型
WM->getPlayerNumber()  //获取球员号码
WM->isInTheirPenaltyArea(WM->getBallPos())//判断球是否在对方禁区
WM->isBallKickable()//判断是否能踢球
WM->getAgentGlobalPosition()//获取我现在的坐标
WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent)//获取距我最近的球员
WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATES,OBJECT_BALL)//第二近
WM->isBallInOurPossesion()//判断是否是我方控球
WM->getOffsideX()//获取越位线
WM->isCornerKickUs()//判断是否是我方角球模式
WM->isOffsideUs()//判断是否为我方边线球模式
for(ObjectTo=iterateObjectStart(iIndex,OBJECT_SET_TEAMMATES);o!=OBJECT_ILLEGAL;o=iterateObjectNext(iIndex,OBJECT_SET_TEAMMATES))//遍历我方球员
posAgent.getY()//当前球员y坐标

实验五十题
以下代码未经严格测试
仅供参考·独立思考

(1)在 playOn 模式下,拿到球以后朝前方快速带球。
if ( WM->isBallKickable()) 
{
    AngDeg ang = 0.0;       
    soc = dribble(ang, DRIBBLE_FAST); 
    ACT->putCommandInQueue(soc);       
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
} 

(2) 在 PlayOn 模式下,拿到球以后朝球门方向慢速带球。
if ( WM->isBallKickable())
{    
     AngDeg  ang=(VecPosition(52.5,0)-posAgent).getDirection();
     soc=dribble(ang, DRIBBLE_SLOW);
   ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}

 (3) 在 playOn 模式下,拿到球以后把球围绕自己身体逆时针转。
if ( WM->isBallKickable())
{
    soc=kickBallCloseToBody(-120);
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}

 (4) 在 playOn 模式下,拿到球后,有人逼抢(自身周围 7 米范围有至少 1 名对方球员),则把球踢到距离对手的另外一侧,安全带球
(如对手在右侧,把球踢到左侧,如对手仔左侧,把球踢到右侧)。

if ( WM->isBallKickable())
       {
        Circle cir(posAgent,7);
		int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);
		AngDeg ang=0;
if(num>0)
{
  	ObjectT o=WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,posAgent);
  	VecPosition p=WM->getGlobalPosition(o);
  		if((p-posAgent).getDirection()>=0)
  		{
   		 ang+=45;
   		soc=dribble(ang,DRIBBLE_WITHBALL);
 		 }
 		 else{
    		ang-=45;
    		soc=dribble(ang,DRIBBLE_WITHBALL);
  		}
}
/*else{
  		AngDeg ang=(VecPosition(52.5,0)-posAgent).getDirection();
  		soc=dribble(ang,DRIBBLE_WITHBALL);
		}*/
            ACT->putCommandInQueue(soc);
            ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
        }

(5) 在 playOn 模式下，拿到球以后，有人逼抢，传球给最近的队友；否则向球门方向快速带球。
if ( WM->isBallKickable())
{
    {   
Circle cir(posAgent,7);
        int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir)
        if(num>0)
      {
soc=leadingPass(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent) ,1);
      }
 
  else
{
AngDeg ang=(VecPosition(52.5,0)-posAgent).getDirection();
      soc=dribble(ang, DRIBBLE_FAST);}
        }

    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(6) 在playOn模式下，如果有人逼抢(自身周围 7 米范围有至少 1名对方球员)，则安全带球；否则向球门方向快速带球。
if ( WM->isBallKickable())
{
    {   
    Circle cir(posAgent,7);
        int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir)
        AngDeg ang=(VecPositoin(52.5,0)-posAgent).getDirection();
if(num>0)
          soc=dribble(0,DRIBBLE_WITHBALL);
        else  
soc=dribble(ang,DRIBBLE_FAST);     
}
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
 (7) 在 PlayOn 模式下，若前方没有对方球员，则直接以最大速度向对方球员方射门（周期数为偶数，球门的右侧射门，周期为奇数，向球门方向左侧射门）。
if ( WM->isBallKickable())
{
     if(WM->isOpponentAtAngle(30,30)==false)
 {   VecPosition posGoal(PITCH_LENGTH/2.0,
          (-1+2*(WM->getCurrentCircle()%2))*0.4*SS->getGoalWidth());
     soc=kickTo(posGoal,SS->getBallSpeedMax()); 
}
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(8) 在 playOn 模式下，拿到球后，在本方半场踢到球场中心点；过了半场，快速带球到对方球门。
if ( WM->isBallKickable())
{
    if(WM->getBallPos().getX()<0)
        soc=kickTo(VecPosition(0,0),1.0);
     else
         {  
         AngDeg ang=(VecPositoin(52.5,0)-posAgent).getDirection();
        soc=dribble(ang,DRIBBLE_FAST);  
}
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}

(9) 在 PlayOn 模式下，拿到球后，把传给最近的周围没人防守的队友（没有人防守以其周围 5 米范围是否有对方球员为准）脚下。
if ( WM->isBallKickable())
{
     Circle cir(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent),5);
     int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);
     if(num=0)
         soc=leadingPass(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES, posAgent) ,1.0);
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(10) 在 playOn 模式下，拿到球后，把球传给最靠近自己的前方的没人防守的队友（判断队友身边 5 米范围是否有对方防守队员）。
if ( WM->isBallKickable())
{
    {	 
Circle cir(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent),5);
  int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);
	VecPosition diff=WM->getGlobalPosition(WM->getClosestInSetTo(
	OBJECT_SET_TEAMMATES,posAgent));
	AngDeg ang=(diff-posAgent).getDirection();
if(num=0&&ang>=-90&&ang<=90)
     soc=leadingPass(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent) ,1.0);
}
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(11) 在 playOn 模式下，拿到球后以后，在本方半场传给次近的队友；在对方半场，非 10 号球员传球给 10 号球员，10 号球员则快速向球门方向带球。
if ( WM->isBallKickable())
{
     if(WM->getBallPos().getX()<0)
	{
		soc=leadingPass(WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent)
,1.0);
	}
	if(WM->getBallPos().getX()>=0)
	{ 
 		if(WM->getAgentObjectType（）！=OBJECT_TEANMATE_10)
		{
     		soc=leadingPass(OBJECT_TEANMATE_10 ,1.0)
		}
		if(WM->getAgentObjectType()==OBJECT_TEANMATE_10)
		{
         	AngDeg ang=(VecPositoin(52.5,0)-posAgent).getDirection();
     		soc=dribble(ang,DRIBBLE_FAST); 
		}
	}
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(12) 在 playOn 模式下，如果在本方半场，则朝前方慢速带球，如果在对方半场，则朝球门快速带球。 
if ( WM->isBallKickable())
{
     if(WM->getBallPos().getX()<0)
    soc=dribble(0,DRIBBLE_SLOW);
     if(WM->getBallPos().getX()>=0)
{      
     AngDeg ang=(VecPositoin(52.5,0)-posAgent).getDirection();
     soc=dribble(ang,DRIBBLE_FAST); 
}
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(13) 在 playOn 模式下，拿到球后，如果是 2 号，则把球踢到左侧边线，如果是 5 号，则把球踢到右侧边线，并把脖子方向转向球；其他球员则向前带球。  
if ( WM->isBallKickable())
{
    if(WM->getAgentObjectType()==OBJECT_TEAMMATE_2)
{   
	soc=kickTo(VecPosition(WM->getBallPos().getX(),-34),1.0);
	ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL,soc));}
else if(WM->getPlayerNumber()==5)
{   
soc=kickTo(VecPosition(WM->getBallPos().getX(),34),1.0);
}
else
   soc=dribble(0,DRIBBLE_WITHBALL);
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
//(14) 在 playOn 模式下，拿到球后，如果我是 4 号，则传球给 7 号; 否则的话，传球给最近的队友；到对方禁区后以最大速度射向空隙大的球门一侧。
if ( WM->isBallKickable())
{
    if(WM->isInTheirPenaltyArea(WM->getBallPos())) {
  posGoalie=WM->getGlobalPosition(WM->getOppGoalieType());
  ang_goalie=(posGoalie-posAgent).getDirection();
  angup=(VecPosition(52.5,6.0)-posAgent).getDirection();
  angdown=(VecPosition(52.5,-6.0)-posAgent).getDirection();
  if(std::fabs(angup-ang_goalie)>std::fabs(angdown-ang_goalie))
    soc=kickTo(VecPosition(52.5,6.0),SS->getBallSpeedMax());
  else 
    soc=kickTo(VecPosition(52.5,-6.0),SS->getBallSpeedMax());
}
if(WM->getPlayerNumber()==4)
  soc=leadingPass(OBJECT_TEAMMATE_7,1.0);
else leadingPass(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent),1.0); 
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(15) 在 playOn 模式下,垂直带球。
if ( WM->isBallKickable())
{
    if(WM->getBallPos().getY()<=0)  soc=dribble(90,DRIBBLE_WITHBALL);
else soc=dribble(-90,DRIBBLE_WITHBALL);
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
//(16) 在 playOn 模式下,拿到球后带球到达球场中心,然后传给最近的球员。
if ( WM->isBallKickable())
{
    if(posAgent.getDistanceTo(posBall)>2.0) {
 	 AngDeg ang=(VecPosition(0,0)-posAgent).getDirection();
	soc=dribble(ang,DRIBBLE_WITHBALL);
}
else 
  soc=leadingPass(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent),1.0);
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
//(17) 在 playOn 模式下,10 号带球前进,然后 5 号跟着 10 号一起前进,两球员在同一水平线 上,且距离为 5。
if(WM->getPlayerNumber()!=10)
  soc=leadingPass(OBJECT_TEAMMATE_10,1.0);
else soc=dribble(0,DRIBBLE_SLOW);

if(WM->getPlayerNumber()==5) {
  VecPosition pos(WM->getBallPos().getX()-5,WM->getBallPos().getY());
  soc=moveToPos(pos,20);
}
//(18) 在 playOn 模式下, 5 号球员与拿球的对方球员的距离始终为 5。
if(WM->getPlayerNumber()==5) {
  VecPosition pos(WM->getBallPos().getX()-5,WM->getBallPos().getY());
  soc=moveToPos(pos,20);
}
//(19) 在 playOn 模式下,2 号和 4 号一起去盯防对方拿球队员
if(WM->getAgentObjectType（）==OBJECT＿TEAMMATE＿2){
  VecPosition pos(WM->getBallPos().getX()-5,WM->getBallPos().getY())
  soc=moveToPos(pos,20);
}
if(WM->getAgentObjectType（）==OBJECT＿TEAMMATE＿4)
{
  VecPosition pos(WM->getBallPos().getX(),WM->getBallPos().getY()-5)
  soc=moveToPos(pos,20);
}
//(20) 在 playon 模式下，如果是 10 号球员，在可踢球的状态下，如果自身的 x 轴坐标大于 30，则直接朝着离对方球员远的球门点射门。
if ( WM->isBallKickable())
{
    if(WM->getPlayerNumber()==10&&posAgent.getX()>30)
    {
        posGoalie=WM->getGlobalPosition(WM->getOppGoalieType());
  		ang_goalie=(posGoalie-posAgent).getDirection();
  		angup=(VecPosition(52.5,6.0)-posAgent).getDirection();
      	angdown=(VecPosition(52.5,-6.0)-posAgent).getDirection();
  	if(std::fabs(angup-ang_goalie)>std::fabs(angdown-ang_goalie))
    	soc=kickTo(VecPosition(52.5,6.0),SS->getBallSpeedMax());
    }
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
//(21) 在 playOn 模式下，拿球后传球给更靠近对方球门的最近队友。
if ( WM->isBallKickable())
{
    soc=leadPass(WM->getClosestInSetTo(OBJECT＿SET＿TEAMMATES,WM->getPosOpponentGoal()),1.0);
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
//(22) 在 playOn 模式下，拿球后，搜索前方-30~30 之间距离自己 20米内是否有队友，如果有则传给该队友，否则自己带球。
if ( WM->isBallKickable())
{
    VecPosition posTeam;
    AngDeg angTeam;
	int iIndex;
for(ObjectTo=iterateObjectStart(iIndex,OBJECT_SET_TEAMMATES);o!=OBJECT_ILLEGAL;o=iterateObjectNext(iIndex,OBJECT_SET_TEAMMATES))
{
	posTeam=getGlobalPosition(o);
	angTeam=(posTeam- posAgent).getDirection();
if(angA<=angTeam&&angTeam<=angB&&posAgent.getDistanceTo(posTeam)< dDist)
         soc=leadPass(o,1.0);
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
    
//(23).在 playOn 模式下，如果在我方半场拿到球，则向中场线以最大的速度踢，如果在敌方半场拿到球，则向敌方球门处以最大的速度踢

if ( WM->isBallKickable())
{    
    if(WM->getBallPos().getX()<=0)
	{
  		VecPosition pos(0,WM->grtBallPos().getY());
 		 soc=kickTo(pos,SS->getBallSpeedMax());
	}
	else 
     	soc=kickTo(VecPosition(52.5,0),SS->getBallSpeedMax());
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
//(24).在 playOn 模式下，如果是 9 号拿到球，则令 9 号和 10 号同时冲至敌方球门处，在球门前，9 号传给 10 号，由 10 号进行射门
    if (WM->getPlayerNumber()==9&& WM->isBallKickable())
    {
        AngDeg ang=(VecPositoin(52.5,0)-posAgent).getDirection();
    	soc=dribble(ang,DRIBBLE_FAST);
     if(WM->getAgentObjectType()==OBJECT_TEANMATE_10)
		soc=moveToPos(VecPosition(52.5,0),20)；
         if(WM->isInTheirPenaltyArea(WM->getBallPos()))
		{
        	soc=leadingPass(OBJECT_TEAMMATE_10,1.0);
             if(WM->getAgentObjectType()==OBJECT_TEANMATE_10)
   				 soc=kickTo(VecPosition(52.5,0),SS->getBallSpeedMax())；
		}    
    }    


//(25).在 playOn 模式下，如果我是 4 号球员并且拿到了球，则传给 7号球员，同时 7 号球员再传给 9 号球员，9 号球员继续以最大速度冲到球门处射门。
if(WM->getPlayerNumber()==4&&WM->isBallKickable())
   soc=leadingPass(OBJECT_TEAMMATE_7,1);
if(WM->getPlayerNumber()==7&&WM->isBallKickable())
	soc=leadingPass(OBJECT_TEAMMATE_9,1);
if(WM->getPlayerNumber()==9&&WM->isBallKickable())
{
	if(WM->getBallPos().getX()<40)
	 soc=dribble((VecPosition(40,0)-posAgent).getDirection(),DRIBBLE_FAST);
	else soc=ShootToGoalex(OBJECT_GOAL_L);
}
 
//(26)在 playon 模式下，求出 y 轴等于 0 的两侧的对方球员数量，将球传向对手少的一方，并且 x 轴值最大的队友。
//WorldModel.cpp
ObjectT WorldModel::getMaxXTeammateInSide(bool isOwnSize)
{
    int iIndex;
    ObjectT maxMate = OBJECT_ILLEGAL;
    for (ObjectT  o = iterateObjectStart(iIndex, OBJECT_SET_TEAMMATES);
                          o != OBJECT_ILLEGAL;
                          o = iterateObjectNext(iIndex, OBJECT_SET_TEAMMATES))

        {
            VecPosition oPos = getGlobalPosition(o);
            if((isOwnSize && oPos.getY() >= 0) ||
                 (!isOwnSize && oPos.getY() <= 0))
            {
                if (maxMate == OBJECT_ILLEGAL || oPos.getX() > getGlobalPosition(maxMate).getX())
                     maxMate = o;
            }    
        }      
        iterate ObjectDone(iIndex);
        return maxMate;
}

 bool   WorldModel:: isOwnSideOpponentMost()
 {
	int ownSideCount = 0;
	int count = 0;      
    int iIndex;
    ObjectT maxMate = OBJECT_ILLEGAL;
    for (ObjectT  o = iterateObjectStart(iIndex, OBJECT_SET_OPPONENTS);
                          o != OBJECT_ILLEGAL;
                          o = iterateObjectNext(iIndex, OBJECT_SET_OPPONENTS))

	 {
		 if (getGlobalPosition(o).getY() > 0)
			 ownSideCount++;
		 count++;
	 }
	 return ownSideCount > count - ownSideCount;
 }
 //PlayerTeams.cpp   
else if( WM->isBallKickable()) 
{
    ObjectT mate = WM->getMaxXTeammateInSide(!WM->isOwnSideOpponentMost());
    soc = leadingPass(mate, 1, DIR_CENTER);
    ACT->putCommandInQueue(soc);
    ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
    return soc;
}
//（27）在 playon 模式下，如果自身 7 米范围内有两个或两个以上的对手的话，则传球到 x 轴值最大的队友。
if(WM->isBallKickable()){
	 Circle cir(posAgent,7);
	 int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);
	 if(num>=2){
	   ObjectT ClosestG;
	 ClosestG=WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,VecPosition(52.5,0));
	   soc=leadingPass(ClosestG,1);
	    ACT->putCommandInQueue(soc);
	    ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
	}
      } 
 

//（28）在 playon 模式下，求出己方的越位线，存在可以踢球的队友的话，如果自身是 10 号。那么 10 球员垂直跑向越位线的 x 轴值-2米，y 轴不变的点。
 
if(WM->isBallInOurPossesion() && WM->getPlayerNumber==10)
	soc=moveToPos(WM->getOffsideX()-2,posAgent.getY(),20);

//(29)在 playon 的模式下，求出球运动方向的直线方程，并且求出自己到该直线的距离，如果距离小于 4 的话，那么就垂直跑向该条直线。
Line ballRun = Line::makeLineFromPositionAndAngle(WM->getBallPos(),WM>getBallDirection());
if (ballRun.getDistanceWithPoint(WM->getAgentGlobalPosition()) < 4)
{
  soc = moveToPos(ballRun.getPointOnLineClosestTo(WM->getAgentGlobalPosition()), 20);
  ACT->putCommandInQueue(soc);
  ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
  return soc;
}
//（30）在 playon 的模式下，如果是自己可以踢球的状态下，如果自身 7 米内没有对方球员的话，则快速带球，带球方向是朝着点（53,0）方向。
 if(WM->isBallKickable()){
	 Circle cir(posAgent,7);
	 int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);
	 if(num==0){
	   AngDeg angDribble=(VecPosition(53.0,0)-posAgent).getDirection();
	   soc=dribble(angDribble,DRIBBLE_FAST);
	    ACT->putCommandInQueue(soc);
	    ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
	}
      } 
//（31）在 playon 的模式下，如果距离球最近的是我方队友的话，如果我的 x 坐标小于 30 的话，并且我是 10 号，那么我跑向球的坐标加上（0,10）的坐标位置。
if(WM->isBallInOurPossesion() && WM->getPlayerNumber==10 && posAgent.getX()<30)
    VecPosition pos=WM->getBallPos()+VecPosition(0,10);
    moveToPos(pos,20);
//（32）在 playon 的模式下，发现前方没有队友的时候，如果自身5米内有两个及两个以上的对手的话，那么将球传给最近的队友。
Circle cir(posAgent,7);
int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);
if(WM->isTeammateAtAngle(-30,30)==false && num>=2)
{
    leadingPass(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent),1.0);
}
//(33 )在本方角球模式下，如果自己是 10 号球员，则跑向角球点，并开球（球可踢，则踢球给 9 号）；如果自己是 9 号球员，则跑向距离角球点附近（随机选一点），准备接应球，其他球员跑本位点.
else if (WM->isCornerKickUs())
{
   if (WM->getAgentObjectType() == OBJECT_TEAMMATE_10)
   {
       if (WM->isBallKickable())
           soc = leadingPass(OBJECT_TEAMMATE_9, 1);
       else
           soc = moveToPos(WM->getBallPos(), PS->getPlayerWhenToTurnAngle());
   }
   if (WM->getAgentObjectType() == OBJECT_TEAMMATE_9)
   {
       VecPosition  ball = WM->getBallPos();
       VecPosition  pos(-(ball.getX())/fabs(ball.getX()) * 5 + ball.getX(),
                        -(ball.getY())/fabs(ball.getY()) * 5 + ball.getY());
       soc = moveToPos(pos, PS->getPlayerWhenToTurnAngle());
   }
   ACT->putCommandInQueue( soc );
   ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
//34 在本方边线球模式下，如果自己是距离球最近的队员，跑向球；并开球（球在自己脚下则把球传给最近的队友）。
else if(WM->isOffsideUs()) {
    if(WM->getFastestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL, &iTmp )
                  == WM->getAgentObjectType()) {
       if(WM->isBallKickable()) {
           ObjectT objTea =WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,WM->getAgentObjectType(),&dist);
           VecPosition posTea=WM->getGlobalPosition(objTea);
           soc=kickTo(posTea,SS->getBallSpeedMax());
       }
       else {
          soc=moveToPos(WM->getBallPos(),20);
       }
       ACT->putCommandInQueue(soc);
    }
}
 
 //35 在本方边线球模式下，在本方半场左侧，则由 2 号去发；如果是本方半场右侧，则由 5 号去发；球在 2 号或者 5 号脚下，则踢向距离自己最近的队友。
else if(WM->isOffsideUs()) {
    VecPosition posBall=WM->getBallPos();
    if((posBall.getX()<0 && posBall.getY()<0 && WM->getPlayerNumber()==2)||
            ((posBall.getX()<0 && posBall.getY()>0 && WM->getPlayerNumber()==5)))
    {
        if(WM->isBallKickable()) {
            ObjectT objTea =WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,WM->getAgentObjectType(),&dist);
            VecPosition posTea=WM->getGlobalPosition(objTea);
            soc=kickTo(posTea,SS->getBallSpeedMax());
        }
        else {
            soc=moveToPos(WM->getBallPos(),20);
        }
        ACT->putCommandInQueue(soc);
    }
}
//36.在本方边线球的模式下，如果我是距离第二近的队友的话，那么我也跑朝着球的位置跑，直到距离球 7 米的范围
else if(WM->isOffsideUs())
{
  ObjectT o=WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATES,OBJECT_BALL) ;
  double myPosx=WM->getAgentGlobalPosition().getX();;
  double myposy=WM->getAgentGlobalPosition().getY();;
  double ballposx=WM->getBallPos().getX();;
  double ballposy=WM->getBallPos().getY();;
  double dis=sqrt(pow(ballposx-myPosx,2)+pow(ballposy-myposy,2));
  if(WM->getAgentObjectType()==o&&dis>7)
  {
    soc=moveToPos( VecPosition(ballposx,ballposy ) , 20 );
    ACT->putCommandInQueue( soc );
  }
}

//37 在本方边线球的模式下，如果我是 4 号的话，并且距离球最近的队友不是我，那么我将跑向球的坐标加上（5,0）的位置上去。
else if(WM->isOffsideUs())
{
if((WM->getPlayerNumber()==4)&&(WM-> getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL)!=OBJECT_TEAMMATE_4))
    soc=moveToPos((WM->getBallPos()+VecPosition(5,0)),20);
    ACT->putCommandInQueue( soc ); // 放入命令队列
    ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
//38 在本方边线球的模式下，如果我是距离球第二近的队友，那么我跑向距离球 12 米的范围内，并且距离对方球门点（53,0）最近的点。
 else if ( WM->isOffsideUs() )
{
   ObjectT o = WM -> getSecondClosestInSetTo(OBJECT_SET_TEAMMATES , OBJECT_BALL) ;
   if ( WM ->getAgentObjectType() == o )
   {
     double a  = WM->getBallPos().getX() ;
	 double b = WM->getBallPos().getY() ;
	 double t ,m ,x2,y1,d,x1,y2;
	 t=b/( a-53);
	 m=53*t+b;
	 d=pow( 2*a+2*t*m,2) -4*( pow( t,2)+1) *(pow(a,2)+pow(m,2)-144) ;
	 x1 = ( ( 2*a+2*t*m) +sqrt( d) ) /( 2*( pow( t,2) +1)) ;
	 x2 = ( ( 2*a+2*t*m) -sqrt( d) ) /( 2*( pow( t,2) +1)) ;
	 y1 = t*x1-53*t ;
	 y2 =t*x2-53*t ;
	 double y ,x;
	 if( y1<y2)
	 {
	    y=y1 ;x=x1;
	 }
	 else
	 y=y2;x=x2;
	 soc = moveToPos( VecPosition( x,y) ,20); 
   }
    ACT->putCommandInQueue( soc ); // 放入命令队列
}

//39 在本方边线球的模式下，距离球最近的队友跑向球并开球，如果我不是距离球第二近的队友，那么我向自身向量（5,0）的方向跑去。
 else if ( WM->isOffsideUs( ) )
{
  ObjectT o1 = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES , OBJECT_BALL) ;
  if( WM->getAgentObjectType() == o1 )
  {
    if( WM->getGlobalPosition( o1) != WM->getBallPos() )
         soc = moveToPos( WM->getBallPos() ,20) ;
    else 
    {
      ObjectT o3 = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES ,posAgent) ;
      soc = leadingPass( o3 , 1) ;
    }
  }
  ObjectT o2 = WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATES , OBJECT_BALL) ;
  if( WM->getAgentObjectType() != o2)
  {
       double y = posAgent.getY() ;
        VecPosition pos( 52.5, y);
	soc = moveToPos( pos,20) ;
  }
     ACT->putCommandInQueue( soc ); 
}

//40 在本方边线球的模式下，距离球最近的队友跑向球并开球，如果我不是距离球第二近的队友，那么求出距离球第二近的队友的坐标加上（10，5）的点跑。如果该点在球场内，则跑向该点。
 else if(WM->isOffsideUs())
{
  ObjectT o1=WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,OBJECT_BALL) ;
  ObjectT o2=WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATES,OBJECT_BALL) ;
  double o2Posx;
  double o2posy;
  o2Posx=WM->getGlobalPosition(o2).getX();
  o2posy=WM->getGlobalPosition(o2).getY();
  if (WM->getAgentObjectType()==o1 )
  {
   if(WM->getGlobalPosition(o1)!=WM->getBallPos())
   {
     soc=moveToPos(WM->getBallPos(),20);
   }
   else
   {
     ObjectT o3 = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES , o1) ;
       soc = leadingPass(o3,1);
   }
  }
    if(WM->getAgentObjectType()!=o1&&WM->getAgentObjectType()!=o2&&o2Posx<=42.5&&o2posy<=29)
    {
      soc=moveToPos(VecPosition(o2Posx+10,o2posy+5),20);
    }
   ACT->putCommandInQueue( soc ); 
}

 //41 在 playOn 模式下，如果对方 10 号拿球，如果我是 2、3、4 号，则去盯防 10 号
int num=WM->getPlayerNumber();
if(WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,WM->getBallPos())==OBJECT_OPPONENT_10&&
    (num==2||num==3||num==4))
{
    VecPosition pos=WM->getMarkingPosition(OBJECT_OPPONENT_10,2.0,MARK_BALL);
    soc=moveToPos(WM->getGlobalPosition(OBJECT_OPPONENT_10),PS->getPlayerWhenToTurnAngle());
    ACT->putCommandInQueue( soc );
}
//42 在 playOn 模式下，如对方 9 号拿球，我方 2、3、4 号距离球最近的球员去盯防 9 号，其他队员盯防距离自己最近的对方球员
if(WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,WM->getBallPos())==OBJECT_OPPONENT_9)
{
  ObjectT closestObject=OBJECT_TEAMMATE_2;
  VecPosition team=WM->getGlobalPosition(closestObject);
  double minDis=team.getDistanceTo(WM->getGlobalPosition(OBJECT_OPPONENT_9));
  team=WM->getGlobalPosition(OBJECT_TEAMMATE_3);
  double dis=team.getDistanceTo(WM->getGlobalPosition(OBJECT_OPPONENT_9));
  if(dis<minDis)
  {
    minDis=dis;
    closestObject=OBJECT_TEAMMATE_3;
  }
  team=WM->getGlobalPosition(OBJECT_TEAMMATE_4);
  dis=team.getDistanceTo(WM->getGlobalPosition(OBJECT_OPPONENT_9));
  if(dis<minDis)
  {closestObject=OBJECT_TEAMMATE_4;}
  if(WM->getAgentObjectType()==closestObject)
  {
    VecPosition pos=WM->getMarkingPosition(OBJECT_OPPONENT_9,2.0,MARK_BALL);
    soc=moveToPos(WM->getGlobalPosition(OBJECT_OPPONENT_9),PS->getPlayerWhenToTurnAngle());
  }
  else
  {
    ObjectT opp=WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,WM->getAgentObjectType());
    VecPosition oppPos=WM->getMarkingPosition(opp,2.0,MARK_BALL);
    soc=moveToPos(oppPos,40);
  }
}
//43 在 playOn 模式下，如果对方比我先接近球，则离球最近的队员去盯球，其他球员盯防距离自己最近的对方球员
double *dDist1,*dDist2;
        WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,OBJECT_BALL,dDist1);
	WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,OBJECT_BALL,dDist2);
        if((* dDist1)>(* dDist2))
	{
	  if(WM->getAgentObjectType()==WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,OBJECT_BALL))
	    soc=mark(OBJECT_BALL,5,MARK_GOAL);
	  else
	    soc=mark(WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,WM->getPlayerNumber()),5,MARK_BISECTOR);
	    ACT->putCommandInQueue( soc = searchBall() );   // if ball pos unknown //执行找球动作！并放入命令队列
            ACT->putCommandInQueue( alignNeckWithBody( ) ); // search for it //同时把脖子随身体一起转
  	} 
//44 在 playOn 模式下，如果对方 11 号拿到球，则 7 号球员从左边去断球，8 号球员从右边去断球
if(!WM->isBallKickable()){
	 if(WM->getPlayerType()==OBJECT_OPPONENT_11)
	    if(WM->getPlayerNumber()==7)
	      soc=moveToPos(WM->getGlobalPosition(OBJECT_OPPONENT_11)+VecPosition(0,-3),1);
	    soc=intercept(true);
	      
	       if(WM->getPlayerNumber()==8)
		soc=moveToPos(WM->getGlobalPosition(OBJECT_OPPONENT_11)+VecPosition(0,3),1);
	    soc=intercept(true);
	   ACT->putCommandInQueue(soc);
		       ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
//45 在 playOn 模式下，防守模式下，我方 6 号球员始终跟着敌方 9 号，我方 7 号始终跟着敌方 10 号，8 号球员始终跟着敌方 11 号球员
if(WM->getPlayerNumber()==6)
	{
		VecPostion vOpp=WM->getGlobalPosition(OBJECT_OPPONENT_9);
		soc=moveToPos(vOpp);
    }
if(WM->getPlayerNumber()==7)
	{
		VecPostion vOpp=WM->getGlobalPosition(OBJECT_OPPONENT_10);
		soc=moveToPos(vOpp);
    }
if(WM->getPlayerNumber()==8)
	{
		VecPostion vOpp=WM->getGlobalPosition(OBJECT_OPPONENT_11);
		soc=moveToPos(vOpp);
    }
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL),soc); 

//46.在对方边线球的模式下，如果我是 4 号，那么我就跑向距离球最近的对方球员处。
 if(WM->offsidethem)
	if(WM->getPlayerNumber()==4)
	{
		ObjectT oOpp=WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,OBJECT_BALL);
		VecPosition vOPP=WM->getGlobalPosition(oOpp);
		soc=moveToPos(vOpp);
		ACT->putCommandInQueue(soc);
	   ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL),soc);
	} 
//47.在对方边线球的模式下，如果我是距离球第二近的队员的话，那么我跑向距离球第二近的对方球员的位置。
 if(WM->offsidethem)
	ObjectT objTea=WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATE,OBJECT_BALL);
	if(WM->getAgentObjectType()==objTea)
	{
		ObjectT objOpp=WM->getSecondClosestInSetTo(OBJECT_SET_OPPONENTS,OBJECT_BALL);
		VecPosition vOpp=WM->getGlobalPosition(objOpp);
		soc=moveToPos(vOpp,PS->getPlayWhenToTurnaAngle());
		ACT->putCommandInQueue(soc);
	   ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL),soc);
	}
//48.在对方边线球的模式下，如果我不是距离球最近的队友，并且我的 x 轴坐标大于 0 的话，那么我跑向自身位置加（-10,0）的点的位置去。
if(WM->offsidethem)
{
        ObjectT closeball,Myanget;
        closeball=WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATES,OBJECT_BALL);//获得当前距离求最近的球员
  //      Myanget=getAngetGlobalPosition();//当前球员获
   if(WM->getAgentObjectType() !=closeball&&WM->getGlobalPosition(WM->getAgentObjectType()).getX()>0)//判断
      { 
	soc=moveToPos(WM->getGlobalPosition(WM->getAgentObjectType())+(-10,0),20);
         ACT->putCommandInQueue( soc );
       ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) ); // 把脖子转向球，也就是一直看着球

	}
}
//49.在对方边线球的模式下，如果我身边 5 米内有对方球员的话，那么我跑向身边对方球员的位置，并且我的 x 轴坐标的值要比该对方的大 2.
 if(WM->isKickInThem())
	{
	      Circle cir(posAgent,5);
	      int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);
	      if(num>0)
	      {
		VecPosition pos=WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,WM->getAgentObjectType());
		pos.setX(pos.getX()+2);
		soc=moveToPos(pos,0);
		ACT->putCommandInQueue(soc);
		ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL,soc));
	      }
	}
//50.在对方边线球的模式下，如果球的位置的 x 轴小于 0，如果我是 4号或 5 号的话，一起跑向距离球第二近的对方球员的位置。
 if (WM->isOffsideThem() )
  {
 VecPosition pos;
   double x; 
   pos = WM -> getBallPos();
   x = pos.getX();
   if ( x<0)
  {
      if( WM ->getPlayerNumber() == 4 || WM ->getPlayerNumber() == 5 )
      {
          ObjectT ClosestBall;
			double DisBall; 
			AngDeg ang;
          ClosestBall = WM -> getSecondClosestInSetTo ( OBJECT_SET_OPPONENTS , &DisBall ); 
          ang = WM -> getRelativeAngle ( ClosestBall, true );
          soc = SoccerCommand ( CMD_DASH , 80, ang );
}
       }
  }  

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