机器人足球比赛程序如何修改

机器人足球比赛程序如何修改

不知道你说的是不是这样，改动之后可能会好一点！　　#ifndef Strategy_H　　#define Strategy_H　　// The following ifdef block is the standard way of creating macros which make exporting　　// from a DLL simpler. All files within this DLL are compiled with the STRATEGY_EXPORTS　　// symbol defined on the command line. this symbol should not be defined on any project　　// that uses this DLL. This way any other project whose source files include this file see　　// STRATEGY_API functions as being imported from a DLL, wheras this DLL sees symbols　　// defined with this macro as being exported.　　#ifdef STRATEGY_EXPORTS　　#define STRATEGY_API __declspec(dllexport)　　#else　　#define STRATEGY_API __declspec(dllimport)　　#endif　　#include <string.h>　　#include <stdio.h>　　const long PLAYERS_PER_SIDE = 5;　　// gameState　　const long FREE_BALL = 1;　　const long PLACE_KICK = 2;　　const long PENALTY_KICK = 3;　　const long FREE_KICK = 4;　　const long GOAL_KICK = 5;　　// whosBall　　const long ANYONES_BALL = 0;　　const long BLUE_BALL = 1;　　const long YELLOW_BALL = 2;　　// global variables -- Useful field positions ... maybe???　　//预先定义好地称的尺寸信息　　const double FTOP = 77.2392; //Field Top Y coordinate　　const double FBOT = 6.3730; //Field Bottom y coordinate　　const double GTOPY = 49.6801; //Goal Top Y coordinate　　const double GBOTY = 33.9320; //Goal Bottom coordinate　　const double GRIGHT = 97.3632; //Right Goal Bach coordinate　　const double GLEFT = 2.8748; //Left Goal Back coordinate　　const double FRIGHTX = 93.4259; //Field Right x coordinate　　const double FLEFTX = 6.8118; //Field Left x coordinate　　const double OFFSET=4.5;　　int max;　　int min;　　int mid1;　　int mid2;　　int min1,min2;　　int Old_Role;　　int Area1,Area2;　　double RB_dis[5];　　double RB_time[5];　　double RB_angle[5];　　double TOFFSET1;　　double dis[6];　　typedef struct //机器人坐标　　{　　double x, y, z;　　} Vector3D;　　typedef struct　　{　　double x, y;　　} Vector2D;　　typedef struct　　{　　long left, right, top, bottom;　　} Bounds;　　typedef struct //机器人信息　　{　　Vector3D pos; //机器人坐标　　double rotation; //机器人方向角　　double velocityLeft, velocityRight; //机器人左右轮速　　} Robot;　　typedef struct //对方机器人定义　　{　　Vector3D pos; //对方机器人位置坐标　　double rotation; //对方机器人方向角　　} OpponentRobot;　　typedef struct //球信息定义　　{　　Vector3D pos;　　} Ball;　　typedef struct　　{　　double x,y;　　} Point;　　typedef struct //环境结构变量中边界的定义　　{　　double left, right, top, bottom; //边界信息　　} Bounds1;　　typedef struct //环境信息模型　　{　　Robot home[PLAYERS_PER_SIDE]; //本方机器人数据　　OpponentRobot opponent[PLAYERS_PER_SIDE]; //对方机器人数据　　Ball currentBall, lastBall, predictedBall; //球的数据　　Bounds fieldBounds, goalBounds; //场地信息　　long gameState; //比赛状态　　long whosBall; //控球方　　void *userData; //用户数据　　} Environment;　　int flagHome1Home2;　　typedef void (*MyStrategyProc)(Environment*);　　/* MUST BE IMPLEMENTED */　　extern "C" STRATEGY_API void Create ( Environment *env ); // 比赛开始时系统调用，用于出市话用户定义的一些数据　　extern "C" STRATEGY_API void Strategy ( Environment *env );//比赛过程中系统调用，每秒调用60次，仿真周期为1/60秒　　extern "C" STRATEGY_API void Destroy ( Environment *env ); // 比赛结束后系统调用，释放空间　　/*　　全局指针env：数据的输入和输出均要对改变量进行操作，实现仿真环境与代码之间的通信，例如：要想获　　得1号机器人的坐标，只需读取env->home[1].pos即可；设置一号机器人的轮速，只需对env->home[1].velocityLeft,　　env->home[1].velocityRight修改　　*/　　#endif // Strategy_H

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