TIGERs Sumatra¶

Attackerの状態機械¶

https://github.com/TIGERs-Mannheim/Sumatra/blob/master/modules/moduli-ai/src/main/java/edu/tigers/sumatra/ai/pandora/roles/offense/attacker/AttackerRole.java

stateDiagram-v2
    Protect --> ApproachBallLine: ballMoves
    Protect --> Kick : switchToKick

    Dribble --> DribbleKick: switchToDribbleKick
    Dribble --> Kick: switchToKick
    Dribble --> Protect: FAILURE

    ApproachBallLine --> Receive: SUCCESS
    ApproachBallLine --> approachAndStopBall: FAILURE
    ApproachBallLine --> approachAndStopBall: closeToBall

    approachAndStopBall --> Protect: SUCCESS
    approachAndStopBall --> Protect: FAILURE

    Kick --> Receive: SUCCESS
    Kick --> Protect: FAILURE / INVALID
    Kick --> FreeKick: waitForKick
    Kick --> FreeKick: useSingleTouch

    FreeKick --> ApproachBallLine: SUCCESS
    FreeKick --> Protect: FAILURE

    Receive --> Protect: SUCCESS
    Receive --> Protect: FAILURE
    Receive --> Redirect: SwitchToRedirect

    Redirect --> ApproachBallLine: SUCCESS
    Redirect --> Protect: FAILURE
    Redirect --> Receive: switchToReceive

    DribbleKick --> Protect: dribblingKickIsBlocked
    DribbleKick --> Protect: FAILUR

Keeperの状態機械¶

stateDiagram-v2
    Stop --> Defend: !stoped

    PreparePenalty --> Defend: !isPreparePenalty

    MoveToPenaltyArea --> Defend: SUCCESS
    MoveToPenaltyArea --> Defend: isKeeperWellInsidePenaltyArea
    MoveToPenaltyArea --> Stop: isStopped
    MoveToPenaltyArea --> PreparePenalty: isPreparePenalty

    Defend --> Pass: ballCanBePassedOutOfPenaltyArea
    Defend --> Rambo: canGoOut
    Defend --> GetBallContact: isBallBetweenGoalyAndGoal
    Defend --> MoveToPenaltyArea: isOutsidePenaltyArea
    Defend --> Stop: isStopped
    Defend --> PreparePenalty: isPreparePenalty
    Defend --> Intercept: canInterceptSafely

    Pass --> Defend: isBallMoving
    Pass --> MoveInFrontOfBall: ballPlacementRequired
    Pass --> Stop: isStopped
    Pass --> PreparePenalty: isPreparePenalty

    Intercept --> Defend: hasInterceptionFailed
    Intercept --> Pass: ballPlacementRequired
    Intercept --> Stop: isStopped
    Intercept --> PreparePenalty: isPreparePenalty

    Rambo --> Defend: isBallInPenaltyArea(0) || isGoalKick()
    Rambo --> Stop: isStopped
    Rambo --> PreparePenalty: isPreparePenalty

    MoveInFrontOfBall --> Defend: isBallMoving
    MoveInFrontOfBall --> Defend: ballPlaced
    MoveInFrontOfBall --> GetBallContact: SUCCESS
    MoveInFrontOfBall --> Stop: isStopped
    MoveInFrontOfBall --> PreparePenalty: isPreparePenalty

    GetBallContact --> MoveWithBall: SUCCESS
    GetBallContact --> MoveInFrontOfBall: FAILURE
    GetBallContact --> Stop: isStopped
    GetBallContact --> PreparePenalty: isPreparePenalty

    MoveWithBall --> Defend: SUCCESS
    MoveWithBall --> MoveInFrontOfBall: FAILURE
    MoveWithBall --> Stop: isStopped
    MoveWithBall --> PreparePenalty: isPreparePenalty

BallPlacementの状態機械¶

stateDiagram-v2
    Receive --> Prepare: SUCCESS
    Receive --> StopBall: FAILURE
    Prepare --> DropBall: ballIsPlaced
    Prepare --> GetBallContact: success
    Prepare --> Receive: ballMoving
    Prepare --> Pass: ballNeedsToBePassed
    Prepare --> GetBallContact: skipPrepare
    StopBall --> Prepare: SUCCESS
    StopBall --> Prepare: FAILURE
    GetBallContact --> MoveWithBall: SUCCESS
    GetBallContact --> DropBall: FAILURE
    MoveWithBall --> DropBall: SUCCESS
    MoveWithBall --> Receive: FAILURE
    Pass --> ClearBall: FAILURE
    Pass --> ClearBall: SUCCESS
    Pass --> ClearBall: pass mode is NONE
    DropBall --> ClearBall: FAILURE
    DropBall --> ClearBall: SUCCESS

AOffensiveActionMoves¶

TDP2018に解説されている。

ForcedPass
DirectKick
- 敵ゴールへの直接シュート
ClearingKick
- 味方の危ない状況からのクリア
StandardPass
LowChanceKick
- 敵ゴールへの直接シュート
GoToOtherHalf
- 自陣でボールをキープしているが適切なパスターゲットがない場合
KickInsBlue
- 敵ロボットがいない場所にボールを蹴る
RedirectGoalShot
RedirectPass
Receive

ベースクラス（2018年時点でのもの）¶

https://github.com/TIGERs-Mannheim/Sumatra/blob/e858a04f90d5f9d0c0d9df0e4fd913e66d386e6c/modules/moduli-ai/src/main/java/edu/tigers/sumatra/ai/metis/offense/action/moves/AOffensiveActionMove.java

※viability: 実行可能性

isActionViable
- そのアクションが実行可能かどうかを返す
- 返り値
  - TRUE
  - PARTIAL
  - FALSE
activateAction
calViabilityScore

ベースクラス(2021年時点でのもの)¶

calcAction

返り値：OffensiveAction¶

move:EOffensiveActionMove(PROTECT_MOVE)
- FORCED_PASS
- REDIRECT_GOAL_KICK
- GOAL_KICK
- CLEARING_KICK
- STANDARD_PASS
- LOW_CHANCE_GOAL_KICK
- MOVE_BALL_TO_OPPONENT_HALF
- KICK_INS_BLAUE
- RECEIVE_BALL
- PROTECT_MOVE
action:EOffensiveAction(PASS)
- PASS
- KICK_INS_BLAUE
- CLEARING_KICK
- GOAL_SHOT
- PROTECT
- REDIRECT
- RECEIVE
viability:OffensiveActionViability
- TRUE
- PARTIAL
- FALSE

ベースクラス(2023年時点でのもの)¶

https://github.com/TIGERs-Mannheim/Sumatra/blob/master/modules/moduli-ai/src/main/java/edu/tigers/sumatra/ai/metis/offense/action/EOffensiveActionType.java

type:OffensiveActionType
- PASS
- REDIRECT_KICK
- DRIBBLE_KICK
- PROTECT
- CHOP_TRICK
  - Hackentrick: かかとで後方にけり、相手をかわす技
- RECEIVE

https://github.com/TIGERs-Mannheim/Sumatra/blob/master/modules/moduli-ai/src/main/java/edu/tigers/sumatra/ai/metis/offense/action/moves/EOffensiveActionMove.java

OffensiveActionMoveの種類
- REDIRECT_GOAL_KICK
- CHOP_TRICK
- FINISHER
- GOAL_KICK
- FORCED_PASS
- CLEARING_KICK
- STANDARD_PASS
- LOW_CHANCE_GOAL_KICK
- MOVE_BALL_TO_OPPONENT_HALF
- RECEIVE_BALL
- PROTECT_MOVE