对于代码的理解与存在的疑问（用注释标出）

注释格式如下：
/*
问题：
xxxx

理解：
xxxx
By ChenYanTing
*/

#ifdef HAVE_CONFIG_H
#include <config.h>
#endif#include "bhv_chain_action.h"#include "action_chain_holder.h"
#include "action_chain_graph.h"
#include "action_state_pair.h"
#include "field_analyzer.h"#include "bhv_pass_kick_find_receiver.h"
#include "bhv_normal_dribble.h"
#include "body_force_shoot.h"#include "neck_turn_to_receiver.h"#include <rcsc/action/bhv_scan_field.h>
#include <rcsc/action/body_clear_ball.h>
#include <rcsc/action/body_go_to_point.h>
#include <rcsc/action/body_smart_kick.h>
#include <rcsc/action/body_hold_ball.h>
#include <rcsc/action/body_turn_to_point.h>
#include <rcsc/action/neck_scan_field.h>
#include <rcsc/action/neck_turn_to_goalie_or_scan.h>#include <rcsc/action/kick_table.h>#include <rcsc/player/intercept_table.h>
#include <rcsc/player/soccer_intention.h>
#include <rcsc/player/player_agent.h>
#include <rcsc/common/server_param.h>
#include <rcsc/common/logger.h>using namespace rcsc;namespace {class IntentionTurnTo: public SoccerIntention {private:int M_step;Vector2D M_target_point;public:IntentionTurnTo( const Vector2D & target_point ): M_step( 0 ),M_target_point( target_point ){ }bool finished( const PlayerAgent * agent );bool execute( PlayerAgent * agent );private:};/*-------------------------------------------------------------------*/
/*!*//*问题：wm.interceptTable()中的一些属性分别有什么，可以在哪里查看？理解：此函数为每次球员移动结束后的提示函数，其主要功能为：每次球员完成了移动动作后，输出移动完成时的球员状态或者其他状态此函数的内容如下：记录步数的变量自加，然后输出移动的步数如果移动的步数大于二，则输出时间溢出，并且返回true如果自己是不可踢球状态，则输出(finished) no kickable并且返回true如果存在可踢球的敌人，则输出(finished) exist kickable opponent如果拦截表中，敌人的可达半径小于1，则输出(finished) opponent may be kickable如果自己下一步距离球的距离大于可以踢球的距离，输出 (finished) unkickable at next cycleBy ChenYanTing
*/
bool
IntentionTurnTo::finished( const PlayerAgent * agent )
{++M_step;dlog.addText( Logger::TEAM,__FILE__": (finished) step=%d",M_step );if ( M_step >= 2 ){dlog.addText( Logger::TEAM,__FILE__": (finished) time over" );return true;}const WorldModel & wm = agent->world();//// check kickable//if ( ! wm.self().isKickable() ){dlog.addText( Logger::TEAM,__FILE__": (finished) no kickable" );return true;}//// check opponent//if ( wm.existKickableOpponent() ){dlog.addText( Logger::TEAM,__FILE__": (finished) exist kickable opponent" );return true;}if ( wm.interceptTable()->opponentReachCycle() <= 1 ){dlog.addText( Logger::TEAM,__FILE__": (finished) opponent may be kickable" );return true;}//// check next kickable//double kickable2 = std::pow( wm.self().playerType().kickableArea()- wm.self().vel().r() * ServerParam::i().playerRand()- wm.ball().vel().r() * ServerParam::i().ballRand()- 0.15,2 );Vector2D self_next = wm.self().pos() + wm.self().vel();Vector2D ball_next = wm.ball().pos() + wm.ball().vel();if ( self_next.dist2( ball_next ) > kickable2 ){// unkickable if turn is performed.dlog.addText( Logger::TEAM,__FILE__": (finished) unkickable at next cycle" );return true;}return false;
}/*-------------------------------------------------------------------*//*问题：agent->setNeckAction( new Neck_ScanField() )，这个设置颈部动作是不是在那个agent代码里面，属于后面看的代码？理解：这是球员移动到目标点的执行函数函数内容如下：首先输出目标点的x，y坐标然后执行Body_TurnToPoint( M_target_point ).execute( agent )函数，执行移动到目标点的函数最后设置颈部动作，环顾四周By ChenYanTing
*/
bool
IntentionTurnTo::execute( PlayerAgent * agent )
{dlog.addText( Logger::TEAM,__FILE__": (intention) facePoint=(%.1f %.1f)",M_target_point.x, M_target_point.y );agent->debugClient().addMessage( "IntentionTurnToForward" );Body_TurnToPoint( M_target_point ).execute( agent );agent->setNeckAction( new Neck_ScanField() );return true;
}}/*-------------------------------------------------------------------*/
/*!*/
Bhv_ChainAction::Bhv_ChainAction( const ActionChainGraph & chain_graph ): M_chain_graph( chain_graph )
{}/*-------------------------------------------------------------------*/
/*!*/
Bhv_ChainAction::Bhv_ChainAction(): M_chain_graph( ActionChainHolder::i().graph() )
{}/*-------------------------------------------------------------------*//*问题：ServerParam::i()代表什么？ServerParam这个类有必要看源代码吗？M_chain_graph.getFirstAction()，这里获得的第一个动作指的什么？agent->setNeckAction( new Neck_TurnToReceiver( M_chain_graph ) )这个设置的颈部动作是什么意思？wm.gameMode().type()，不理解，vm的源代码需要看吗？整个球场的中心坐标在哪里，球场的长和宽是多少？如果需要自己了解这些，可以在哪里查看数据？Body_ClearBall()，这是指的什么意思？理解：这个函数为动作链的执行函数，简单通俗的讲，就是判断链式动作里面的第一个动作属于什么动作（射门、运球、持球等等），然后通过switch语句，根据不同的判断结果，给出不同的执行过程。函数的内容如下：首先输出Bhv_ChainAction判断是否正在执行doTurnToForward( agent )，如果是则返回true获得动作链式图里面的第一个动作，然后进行进入switch语句，判断第一个动作属于什么，根据不同的判断结果执行不同的过程。如果当前比赛暂停或者处于不是正在比赛的过程中，则返回false。其他球员正在执行动作的情况，返回true。*/
bool
Bhv_ChainAction::execute( PlayerAgent * agent )
{dlog.addText( Logger::TEAM,__FILE__": Bhv_ChainAction" );if ( doTurnToForward( agent ) ){return true;}const ServerParam & SP = ServerParam::i();const WorldModel & wm = agent->world();const CooperativeAction & first_action = M_chain_graph.getFirstAction();ActionChainGraph::debug_send_chain( agent, M_chain_graph.getAllChain() );const Vector2D goal_pos = SP.theirTeamGoalPos();agent->setNeckAction( new Neck_TurnToReceiver( M_chain_graph ) );switch ( first_action.category() ) {case CooperativeAction::Shoot:{dlog.addText( Logger::TEAM,__FILE__" (Bhv_ChainAction) shoot" );if ( Body_ForceShoot().execute( agent ) ){agent->setNeckAction( new Neck_TurnToGoalieOrScan() );#ifdef DEBUG2014std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum() << ": (Bhv_ChainAction) shoot...\n";#endif // DEBUG2014return true;}#ifdef DEBUG2014std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum() << ": (Bhv_ChainAction) shoot failed...\n";#endif // DEBUG2014break;}case CooperativeAction::Dribble:{if ( wm.gameMode().type() != GameMode::PlayOn&& ! wm.gameMode().isPenaltyKickMode() ){agent->debugClient().addMessage( "CancelChainDribble" );dlog.addText( Logger::TEAM,__FILE__" (Bhv_ChainAction) cancel dribble" );return false;}const Vector2D & dribble_target = first_action.targetPoint();dlog.addText( Logger::TEAM,__FILE__" (Bhv_ChainAction) dribble target=(%.1f %.1f)",dribble_target.x, dribble_target.y );NeckAction::Ptr neck;double goal_dist = goal_pos.dist( dribble_target );if ( goal_dist < 18.0 ){int count_thr = 0;if ( goal_dist < 13.0 ){count_thr = -1;}agent->debugClient().addMessage( "ChainDribble:LookGoalie" );neck = NeckAction::Ptr( new Neck_TurnToGoalieOrScan( count_thr ) );}if ( Bhv_NormalDribble( first_action, neck ).execute( agent ) ){#ifdef DEBUG2014std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum() << ": (Bhv_ChainAction) Dribble...\n";#endif // DEBUG2014return true;}break;}case CooperativeAction::Hold:{if ( wm.gameMode().type() != GameMode::PlayOn ){agent->debugClient().addMessage( "CancelChainHold" );dlog.addText( Logger::TEAM,__FILE__" (Bhv_ChainAction) cancel hold" );return false;}if ( wm.ball().pos().x < -SP.pitchHalfLength() + 8.0&& wm.ball().pos().absY() < SP.goalHalfWidth() + 1.0 ){agent->debugClient().addMessage( "ChainHold:Clear" );dlog.addText( Logger::TEAM,__FILE__" (Bhv_ChainAction) cancel hold. clear ball" );Body_ClearBall().execute( agent );agent->setNeckAction( new Neck_ScanField() );return true;}agent->debugClient().addMessage( "hold" );dlog.addText( Logger::TEAM,__FILE__" (Bhv_ChainAction) hold" );if ( Body_HoldBall().execute( agent ) ){agent->setNeckAction( new Neck_ScanField() );#ifdef DEBUG2014std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum() << ": (Bhv_ChainAction) Hold ball...\n";#endif // DEBUG2014return true;}break;}case CooperativeAction::Pass:{dlog.addText( Logger::TEAM,__FILE__" (Bhv_ChainAction) pass" );if ( first_action.targetPlayerUnum() == 1 ){#ifdef DEBUG2014std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum() << ": DO NOT PASS TO OUR GOALIE!!!\n\n";#endif // DEBUG2014break;}if ( Bhv_PassKickFindReceiver( M_chain_graph ).execute( agent ) ){if ( wm.self().pos().x < -42.0 ){#ifdef DEBUG2014std::cerr << "wm.gameMode().type() = " << wm.gameMode().type() << std::endl;std::cerr << "targetPoint = " << '(' << first_action.targetPoint().x << first_action.targetPoint().y << ')'<< std::endl;std::cerr << "targetPlayerUnum = " << first_action.targetPlayerUnum() << std::endl;#endif // DEBUG2014}#ifdef DEBUG2014std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum() << ": (Bhv_ChainAction) Pass...\n\n";#endif // DEBUG2014return true;}break;}case CooperativeAction::Move:{dlog.addText( Logger::TEAM,__FILE__" (Bhv_ChainAction) move" );if ( Body_GoToPoint( first_action.targetPoint(),1.0,SP.maxDashPower() ).execute( agent ) ){agent->setNeckAction( new Neck_ScanField() );#ifdef DEBUG2014std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum()<< ": (Bhv_ChainAction) Move to "<< first_action.targetPoint().x << ',' << first_action.targetPoint().y << std::endl;#endif // DEBUG2014return true;}break;}case CooperativeAction::Clear:{dlog.addText( Logger::TEAM,__FILE__" (Bhv_ChainAction) clear" );if ( Body_SmartKick( first_action.targetPoint(),first_action.firstBallSpeed(),first_action.firstBallSpeed() * 0.99,first_action.kickCount() ).execute( agent ) ){agent->setNeckAction( new Neck_ScanField() );#ifdef DEBUG2014std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum() << ": (Bhv_ChainAction) Clear...\n";#endif // DEBUG2014return true;}#ifdef DEBUG2014std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum() << ": (Bhv_ChainAction) Clear failed...\n";#endif // DEBUG2014break;}case CooperativeAction::NoAction:{dlog.addText( Logger::TEAM,__FILE__" (Bhv_ChainAction) no action" );return true;break;}default:dlog.addText( Logger::TEAM,__FILE__" (Bhv_ChainAction) invalid category" );break;}return false;
}/*-------------------------------------------------------------------*/
/*问题：( face_point - wm.self().pos() ).th()，face_point是指的面向的坐标吗？.th是指的什么？我又忘记这个了opponent_dist_thr的意义？(*o)->posCount()，地方的位置数代表的意义是？getKeepBallVel( agent->world() )，获得的是球的什么速度？理解：这个函数为执行转向的函数。函数的内容如下：首先判断游戏是否正在进行，如果游戏不是正在进行，则返回false获取身体面向与脸面向的角度差如果角度差在110以内，则认为不需要转向，返回false否则，尝试转向判断地方的每个敌人距离自己的距离，如果距离小于某一临界值，则返回false，不执行转向如果自己接下来距离球接下来的距离小于kikable2的距离，则执行转向函数，并且返回true*/
bool
Bhv_ChainAction::doTurnToForward( PlayerAgent * agent )
{const WorldModel & wm = agent->world();if ( wm.gameMode().type() != GameMode::PlayOn ){return false;}Vector2D face_point( 42.0, 0.0 );const double body_angle_diff = ( ( face_point - wm.self().pos() ).th() - wm.self().body() ).abs();if ( body_angle_diff < 110.0 ){dlog.addText( Logger::TEAM,__FILE__" (doTurnToForward) already facing the forward direction. angle_diff=%.1f",body_angle_diff );return false;}dlog.addText( Logger::TEAM,__FILE__" (doTurnToForward) angle_diff=%.1f. try turn",body_angle_diff );// const double opponent_dist_thr = ( wm.self().pos().x > ServerParam::i().theirPenaltyAreaLineX() - 2.0//                                    && wm.self().pos().absY() > ServerParam::i().goalHalfWidth()//                                    ? 2.7//                                    : 4.0 );const double opponent_dist_thr = 4.0;const PlayerPtrCont::const_iterator o_end = wm.opponentsFromSelf().end();for ( PlayerPtrCont::const_iterator o = wm.opponentsFromSelf().begin();o != o_end;++o ){double dist = (*o)->distFromSelf();dist -= bound( 0, (*o)->posCount(), 3 ) * (*o)->playerTypePtr()->realSpeedMax();if ( dist < opponent_dist_thr ){dlog.addText( Logger::TEAM,__FILE__" (doTurnToForward) exist opponent" );return false;}if ( dist > 10.0 ){break;}}// TODO: find the best scan target angleface_point.y = wm.self().pos().y * 0.5;double kickable2 = std::pow( wm.self().playerType().kickableArea()- wm.self().vel().r() * ServerParam::i().playerRand()- wm.ball().vel().r() * ServerParam::i().ballRand()- 0.2,2 );Vector2D self_next = wm.self().pos() + wm.self().vel();Vector2D ball_next = wm.ball().pos() + wm.ball().vel();if ( self_next.dist2( ball_next ) < kickable2 ){Body_TurnToPoint( face_point ).execute( agent );agent->setNeckAction( new Neck_ScanField() );return true;}Vector2D ball_vel = getKeepBallVel( agent->world() );if ( ! ball_vel.isValid() ){dlog.addText( Logger::TEAM,__FILE__": (doKeepBall) no candidate." );return false;}//// perform first kick//Vector2D kick_accel = ball_vel - wm.ball().vel();double kick_power = kick_accel.r() / wm.self().kickRate();AngleDeg kick_angle = kick_accel.th() - wm.self().body();dlog.addText( Logger::TEAM,__FILE__": (doTurnToForward) "" ballVel=(%.2f %.2f)"" kickPower=%.1f kickAngle=%.1f",ball_vel.x, ball_vel.y,kick_power,kick_angle.degree() );if ( kick_power > ServerParam::i().maxPower() ){dlog.addText( Logger::TEAM,__FILE__": (doTurnToForward) over kick power" );Body_HoldBall( true,face_point ).execute( agent );agent->setNeckAction( new Neck_ScanField() );#ifdef DEBUG2014
std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum() << ": (Bhv_ChainAction) doTurnToForward: Hold???\n";#endif // DEBUG2014}else{agent->doKick( kick_power, kick_angle );agent->setNeckAction( new Neck_ScanField() );#ifdef DEBUG2014
std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum() << ": (Bhv_ChainAction) doTurnToForward: Kick???n";#endif // DEBUG2014}agent->debugClient().addMessage( "Chain:Turn:Keep" );agent->debugClient().setTarget( face_point );//// set turn intention//dlog.addText( Logger::TEAM,__FILE__": (doTurnToFoward) register intention" );agent->setIntention( new IntentionTurnTo( face_point ) );return true;
}/*-------------------------------------------------------------------*//*问题：keep_pos代表什么？std::pow( ptype.playerSize()+ SP.ballSize(),2 )，这个pow代表什么？是代表的指数运算吗？还是和power有关的函数？playerSize和ballSize，这个size是指的什么size？ptype.kickableMargin()，球员类型的可踢边境？这个代表着每个球员类型都有自己的可踢边境的划分吗？keep_dist的含义代表什么？keep_pos的含义代表什么？Vector2D::INVALIDATED代表什么数据？这个可以从哪里看到？Vector2D::from_polar（）函数的作用是什么？如果不懂可以从哪里找到？Vector2D.r()是指的向量的大小吗？那Vector2D.r2()又是什么？理解：说实话这个函数，我看不太懂。。。我的所有理解都写成注释，写在函数里面了，但是因为这个函数里面太多调用我都不明白原理，所以我理解起来很困难。看了几遍，还是不能把这些东西串起来，先放放吧。。。看看以后再看是不是就能看懂了。。。*/
Vector2D
Bhv_ChainAction::getKeepBallVel( const WorldModel & wm )
{//初始化s_update_time时间为0static GameTime s_update_time( 0, 0 );//初始化s_best_ball_vel，横向速度和纵向速度都为零static Vector2D s_best_ball_vel( 0.0, 0.0 );//如果wm.time()与s_update_time相等，即wm.time()等于零，那么返回s_best_ball_velif ( s_update_time == wm.time() ){return s_best_ball_vel;}//设置s_update_time为wm.time()s_update_time = wm.time();//ANGLE_DIVS代表将360度分割成了十二份const int ANGLE_DIVS = 12;//获得SP参数对象、ptype球员类型对象const ServerParam & SP = ServerParam::i();const PlayerType & ptype = wm.self().playerType();//定义collide_dist2（碰撞距离)，但是pow具体是指什么？const double collide_dist2 = std::pow( ptype.playerSize()+ SP.ballSize(),2 );//keep_dist的含义代表什么？const double keep_dist = ptype.playerSize()+ ptype.kickableMargin() * 0.5+ ServerParam::i().ballSize();//获得自己下一个与下下个自己所处的位置const Vector2D next_self_pos= wm.self().pos() + wm.self().vel();const Vector2D next2_self_pos= next_self_pos+ wm.self().vel() * ptype.playerDecay();//// create keep target point//// 初始化几个变量int best_angle = -1;Vector2D best_ball_vel = Vector2D::INVALIDATED;int best_opponent_step = 0;double best_ball_speed = 1000.0;/*将三百六十度分成十二份，每次转三十度。每次线获取keep_pos，如果keep_pos符合某个条件则不进行处理否则，则进行如下处理（看下面的注释）。*/for ( int a = 0; a < ANGLE_DIVS; ++a ){Vector2D keep_pos= next2_self_pos+ Vector2D::from_polar( keep_dist,360.0/ANGLE_DIVS * a );if ( keep_pos.absX() > SP.pitchHalfLength() - 0.2|| keep_pos.absY() > SP.pitchHalfWidth() - 0.2 ){continue;}//初始化ball_move、ball_speed，这里的ball_move是一个向量Vector2D ball_move = keep_pos - wm.ball().pos();double ball_speed = ball_move.r() / ( 1.0 + SP.ballDecay() );Vector2D max_vel= KickTable::calc_max_velocity( ball_move.th(),wm.self().kickRate(),wm.ball().vel() );//这个临界条件的设定不是很明白if ( max_vel.r2() < std::pow( ball_speed, 2 ) ){continue;}Vector2D ball_next_next = keep_pos;Vector2D ball_vel = ball_move.setLengthVector( ball_speed );Vector2D ball_next = wm.ball().pos() + ball_vel;if ( next_self_pos.dist2( ball_next ) < collide_dist2 ){ball_next_next = ball_next;ball_next_next += ball_vel * ( SP.ballDecay() * -0.1 );}#ifdef DEBUG_PRINTdlog.addText( Logger::TEAM,__FILE__": (getKeepBallVel) %d: ball_move th=%.1f speed=%.2f max=%.2f",a,ball_move.th().degree(),ball_speed,max_vel.r() );dlog.addText( Logger::TEAM,__FILE__": __ ball_next=(%.2f %.2f) ball_next2=(%.2f %.2f)",ball_next.x, ball_next.y,ball_next_next.x, ball_next_next.y );
#endif//// check opponent//int min_step = 1000;for ( PlayerPtrCont::const_iterator o = wm.opponentsFromSelf().begin();o != wm.opponentsFromSelf().end();++o ){if ( (*o)->distFromSelf() > 10.0 ){break;}int o_step = FieldAnalyzer::predict_player_reach_cycle( *o,ball_next_next,(*o)->playerTypePtr()->kickableArea(),0.0, // penalty distance1, // body count thr1, // default turn step0, // wait cycletrue );if ( o_step <= 0 ){break;}if ( o_step < min_step ){min_step = o_step;}}
#ifdef DEBUG_PRINTdlog.addText( Logger::TEAM,__FILE__": (getKeepBallVel) %d: keepPos=(%.2f %.2f)"" ballNext2=(%.2f %.2f) ballVel=(%.2f %.2f) speed=%.2f o_step=%d",a,keep_pos.x, keep_pos.y,ball_next_next.x, ball_next_next.y,ball_vel.x, ball_vel.y,ball_speed,min_step );
#endifif ( min_step > best_opponent_step ){best_angle = a;best_ball_vel = ball_vel;best_opponent_step = min_step;best_ball_speed = ball_speed;}else if ( min_step == best_opponent_step ){if ( best_ball_speed > ball_speed ){best_angle = a;best_ball_vel = ball_vel;best_opponent_step = min_step;best_ball_speed = ball_speed;}}}s_best_ball_vel = best_ball_vel;return s_best_ball_vel;
}

学习心得与体会

这一次只看了一个cpp文件，感觉进度比较慢，我认为原因有以下几点吧。第一点就是自己没有安排好学习计划，经常会被其他的事情占用了我的学习robcup的时间，导致我花费在robcup上面的时间比我预计的要少。第二点就是，许多的函数里面调用了很多底层的东西，这些东西如何自己去查找？或者这个东西值不值得去理解原理，我把握不好这个度。
所以，这一次的学习过程，最大的收获的其实不是robcup的函数又掌握了多少，而是我明白了学习过程中让我成长缓慢的痛点，而这个痛点越早察觉到，对我以后的学习过程的帮助越大。希望自己能够有所改进！

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本次学习过程主要阅读了bhv_chain_action

对于代码的理解与存在的疑问（用注释标出）

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