Symbols concerning with soccer playing strategy (eg roles).
The formalized behavior references a variety of input and output symbols, which can stand for variables or functions of the agent's software. Constants are constant decimal values.
Name | Type | Measure | Description / Parameters |
strategy.min_teammate_time_to_reach_ball | decimal | | Minimum of teammates estimated times to reach ball |
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strategy.max_supporter_position_on_field.x | decimal | | Maximum x position of a teammate which is currently playing as a supporter |
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strategy.min_supporter_position_on_field.x | decimal | | Minimum x position of a teammate which is currently playing as a supporter |
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strategy.min_defender_position_on_field.y | decimal | | Minimum y position of a teammate which is currently playing as a defender |
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strategy.player_1.role | enumerated | strategy.role | Role of the player 1 |
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strategy.player_2.role | enumerated | strategy.role | Role of the player 2 |
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strategy.player_3.role | enumerated | strategy.role | Role of the player 3 |
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strategy.player_4.role | enumerated | strategy.role | Role of the player 4 |
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strategy.player_5.role | enumerated | strategy.role | Role of the player 5 |
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strategy.player_1.x | decimal | | X Position of player 1 |
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strategy.player_2.x | decimal | | X Position of player 2 |
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strategy.player_3.x | decimal | | X Position of player 3 |
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strategy.player_4.x | decimal | | X Position of player 4 |
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strategy.player_5.x | decimal | | X Position of player 5 |
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strategy.player_1.y | decimal | | Y Position of player 1 |
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strategy.player_2.y | decimal | | Y Position of player 2 |
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strategy.player_3.y | decimal | | Y Position of player 3 |
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strategy.player_4.y | decimal | | Y Position of player 4 |
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strategy.player_5.y | decimal | | Y Position of player 5 |
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strategy.player_1.angle | decimal | | Rotation of player 1 |
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strategy.player_2.angle | decimal | | Rotation of player 2 |
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strategy.player_3.angle | decimal | | Rotation of player 3 |
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strategy.player_4.angle | decimal | | Rotation of player 4 |
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strategy.player_5.angle | decimal | | Rotation of player 5 |
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strategy.player_1.destination.x | decimal | | X Position of destination of player 1 |
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strategy.player_2.destination.x | decimal | | X Position of destination of player 2 |
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strategy.player_3.destination.x | decimal | | X Position of destination of player 3 |
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strategy.player_4.destination.x | decimal | | X Position of destination of player 4 |
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strategy.player_5.destination.x | decimal | | X Position of destination of player 5 |
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strategy.player_1.destination.y | decimal | | Y Position of destination of player 1 |
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strategy.player_2.destination.y | decimal | | Y Position of destination of player 2 |
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strategy.player_3.destination.y | decimal | | Y Position of destination of player 3 |
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strategy.player_4.destination.y | decimal | | Y Position of destination of player 4 |
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strategy.player_5.destination.y | decimal | | Y Position of destination of player 5 |
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strategy.player_1.time_since_last_message | decimal | | Time since last message was received from player 1 |
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strategy.player_2.time_since_last_message | decimal | | Time since last message was received from player 2 |
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strategy.player_3.time_since_last_message | decimal | | Time since last message was received from player 3 |
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strategy.player_4.time_since_last_message | decimal | | Time since last message was received from player 4 |
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strategy.player_5.time_since_last_message | decimal | | Time since last message was received from player 5 |
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strategy.any_robot_is_alive | boolean | true/ false | True if there is a wireless connection to any other robot |
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strategy.player.role | enumerated | strategy.role | |
| Parameter | Type | Measure | Range | Description | strategy.player.role.player_number | decimal | | | |
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strategy.number_of_connected_robots | decimal | | Number of robots currently sending messages in the team (including myself) |
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strategy.number_of_field_players | decimal | | Number of field players currently sending messages |
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strategy.teammate_collision_warning | boolean | true/ false | Check whether a destination conflicts with a teammates current destination |
| Parameter | Type | Measure | Range | Description | strategy.teammate_collision_warning.destination.x | decimal | mm | -3000..3000 | The x destination on the field | strategy.teammate_collision_warning.destination.y | decimal | mm | -2000..2000 | The y destination on the field |
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strategy.alternative_destination.x | decimal | mm | When a possible collision was detected this contains an alternative destination in order to avoiding colliding with teammates |
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strategy.alternative_destination.y | decimal | mm | When a possible collision was detected this contains an alternative destination in order to avoiding colliding with teammates |
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strategy.time_since_teammate_at_ball | decimal | ms | Time since the robot or one of the teammates was at the ball |
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Name | Type | Measure | Internal | Description |
strategy.ball_is_grabbed | boolean | true/ false | true | Whether the ball is currently grabbed under the head |
strategy.ball_was_kicked | boolean | true/ false | true | Whether a kick was just performed |
strategy.estimated_time_to_reach_ball | decimal | | | Estimated time the robot requires to reach the ball if it becomes striker. * The robot with the lowest estimation will become the striker. * Value is 0 if the robot is already at the ball. * Value is -1 if the robot currently can not become striker, e.g. goalie/penalized. |
strategy.role | enumerated | strategy.role | | |
strategy.destination.x | decimal | | | The X position of the current destionation where the robot is moving to |
strategy.destination.y | decimal | | | The Y position of the current destionation where the robot is moving to |
strategy.sync_ticks | decimal | | | |
strategy.blocking_penalty | decimal | ms | true | Penalty value for estimated time to reach ball representing current blocking by obstacles |
strategy.last_grab_angle | decimal | deg | true | Last robot pose angle where the ball was grabbed |
strategy.striker_conflict | boolean | true/ false | true | A capacity conflict was detected |