[Orxonox-commit 2314] r7029 - code/branches/ai/src/orxonox/controllers

[solex at orxonox.net]

Author: solex
Date: 2010-05-30 23:54:45 +0200 (Sun, 30 May 2010)
New Revision: 7029

Modified:
   code/branches/ai/src/orxonox/controllers/AIController.cc
   code/branches/ai/src/orxonox/controllers/ArtificialController.cc
   code/branches/ai/src/orxonox/controllers/ArtificialController.h
Log:
minor changes to ai controllers

Modified: code/branches/ai/src/orxonox/controllers/AIController.cc
===================================================================
--- code/branches/ai/src/orxonox/controllers/AIController.cc	2010-05-30 20:21:41 UTC (rev 7028)
+++ code/branches/ai/src/orxonox/controllers/AIController.cc	2010-05-30 21:54:45 UTC (rev 7029)
@@ -229,6 +229,8 @@
 
             if (this->specificMasterAction_ == SPIN)
                     this->spin();
+            if (this->specificMasterAction_ == FOLLOWHUMAN)
+                    this->follow();
         }
 
         if (this->state_ == SLAVE)

Modified: code/branches/ai/src/orxonox/controllers/ArtificialController.cc
===================================================================
--- code/branches/ai/src/orxonox/controllers/ArtificialController.cc	2010-05-30 20:21:41 UTC (rev 7028)
+++ code/branches/ai/src/orxonox/controllers/ArtificialController.cc	2010-05-30 21:54:45 UTC (rev 7029)
@@ -90,10 +90,11 @@
         SUPER(ArtificialController, XMLPort, xmlelement, mode);
 
         XMLPortParam(ArtificialController, "team", setTeam, getTeam, xmlelement, mode).defaultValues(-1);
-        XMLPortParam(ArtificialController, "formation", setFormationFlight, getFormationFlight, xmlelement, mode).defaultValues(true);
+        XMLPortParam(ArtificialController, "formationflight", setFormationFlight, getFormationFlight, xmlelement, mode).defaultValues(true);
+        XMLPortParam(ArtificialController, "formation_size", setFormationSize, getFormationSize, xmlelement, mode).defaultValues(STANDARD_MAX_FORMATION_SIZE);
     }
 
-// Documentation only here to get a faster overview for creating a useful documentation, what you're reading here not intended for an actual documentation...
+// Documentation only here to get a faster overview for creating a useful documentation...
 
     /**
         @brief Activates / deactivates formationflight behaviour
@@ -230,7 +231,7 @@
     }
 
     /**
-        @brief Gets called if ControllableEntity is changed. Resets the bot when it dies.
+        @brief Gets called when ControllableEntity is being changed. Resets the bot when it dies.
     */
     void ArtificialController::changedControllableEntity()
     {
@@ -472,7 +473,7 @@
     }
 
     /**
-        @brief Master sets its slaves free for \var FREEDOM_COUNT seconds.
+        @brief Master sets its slaves free for @var FREEDOM_COUNT seconds.
     */
     void ArtificialController::forceFreeSlaves()
     {
@@ -563,7 +564,7 @@
     */
     void ArtificialController::spinInit()
     {
-         COUT(0) << "~spinInit" << std::endl;
+        COUT(0) << "~spinInit" << std::endl;
         if(this->state_ != MASTER) return;
         this->specificMasterAction_ = SPIN;
         this->specificMasterActionHoldCount_ = 10;
@@ -581,25 +582,34 @@
     /**
         @brief Master begins to follow a human player. Is a "specific master action".
         @param humanController human to follow.
-        @param alaways follows human forever if true - only inplemented for false yet.
+        @param alaways follows human forever if true, else it follows it for @var SECONDS_TO_FOLLOW_HUMAN seconds.
     */
-    void ArtificialController::followHuman(Pawn* human, bool always)
+    void ArtificialController::followHumanInit(Pawn* human, bool always)
     {
-        if (human == NULL)
-        {
-            this->specificMasterAction_ = NONE;
+        COUT(0) << "~followInit" << std::endl;
+        if (human == NULL || this->state_ != MASTER)
             return;
-        }
+
+        this->specificMasterAction_  =  FOLLOWHUMAN;
+
+        this->setTarget(human);
         if (!always)
-        {
-            this->setTarget(human);
             this->specificMasterActionHoldCount_ = SECONDS_TO_FOLLOW_HUMAN;
-            this->specificMasterAction_  =  HOLD;
-        }
+        else 
+            this->specificMasterActionHoldCount_ = INT_MAX; //for now...
 
     }
 
+    /**
+        @brief Follows target with adjusted speed. Called within tick.
+    */
+    void ArtificialController::follow()
+    {
+        this->moveToTargetPosition(); //standard position apprach for now.
+    }
 
+
+
     void ArtificialController::setTargetPosition(const Vector3& target)
     {
         this->targetPosition_ = target;

Modified: code/branches/ai/src/orxonox/controllers/ArtificialController.h
===================================================================
--- code/branches/ai/src/orxonox/controllers/ArtificialController.h	2010-05-30 20:21:41 UTC (rev 7028)
+++ code/branches/ai/src/orxonox/controllers/ArtificialController.h	2010-05-30 21:54:45 UTC (rev 7029)
@@ -22,7 +22,7 @@
  *   Author:
  *      Fabian 'x3n' Landau
  *   Co-authors:
- *      ...
+ *      Dominik Solenicki
  *
  */
 
@@ -57,6 +57,10 @@
                 { this->formationFlight_ = formation; }
             inline bool getFormationFlight() const
                 { return this->formationFlight_; }
+            inline void setFormationSize(int size)
+                { this->maxFormationSize_ = size; }
+            inline int getFormationSize() const
+                { return this->maxFormationSize_; }
             virtual void changedControllableEntity();
 
             static void formationflight(bool form);
@@ -104,7 +108,8 @@
             void turn180();
             void spinInit();
             void spin();
-            void followHuman(Pawn* humanController, bool always);
+            void followHumanInit(Pawn* human, bool always);
+            void follow();
 
             void setTargetPosition(const Vector3& target);
             void searchRandomTargetPosition();