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1 .... WrightEagle baj@mail.ustc.edu.cn (USTC) 2D / 26

2 (USTC) 2D / 26

3 . Client Server Information State (USTC) 2D / 26

4 . Parser & Observer Parser Server (Perception) Observer Parser Parser Observer Parser Parser.{h, cpp}, Observer.{h, cpp} (USTC) 2D / 26

5 . Parser & Observer Parser Server (Perception) Observer Parser Parser Observer Parser Parser.{h, cpp}, Observer.{h, cpp} (USTC) 2D / 26

6 . WorldState Observer Server (BallState & PlayerState) BallState.h, PlayerState.{h, cpp}, WorldState.{h, cpp} (USTC) 2D / 26

7 . WorldState Observer Server (BallState & PlayerState) BallState.h, PlayerState.{h, cpp}, WorldState.{h, cpp} (USTC) 2D / 26

8 . InfoState WorldState InfoState PositionInfo InterceptInfo InfoState.{h, cpp}, PositionInfo.{h, cpp}, InterceptInfo.{h, cpp} (USTC) 2D / 26

9 . InfoState WorldState InfoState PositionInfo InterceptInfo InfoState.{h, cpp}, PositionInfo.{h, cpp}, InterceptInfo.{h, cpp} (USTC) 2D / 26

10 . DecisionData InfoState Strategy Analyser WorldState InfoState DecisionData.{h, cpp}, Strategy.{h, cpp}, Analyser.{h, cpp} (USTC) 2D / 26

11 . DecisionData InfoState Strategy Analyser WorldState InfoState DecisionData.{h, cpp}, Strategy.{h, cpp}, Analyser.{h, cpp} (USTC) 2D / 26

12 . Agent Agent WorldState, InfoState, DecisionData Formation ActionEffector Agent Agent.{h, cpp}, Formation.{h, cpp}, ActionEffector.{h, cpp},... (USTC) 2D / 26

13 . Agent Agent WorldState, InfoState, DecisionData Formation ActionEffector Agent Agent.{h, cpp}, Formation.{h, cpp}, ActionEffector.{h, cpp},... (USTC) 2D / 26

14 . ActiveBehavior Behavior*Planner Behavior*Executer ActiveBehavior Behavior*Planner Behavior*Executer Behavior*Planner ActiveBehavior ActiveBehavior Behavior*Executer ActiveBehavior BehaviorBase.{h, cpp} (USTC) 2D / 26

15 . ActiveBehavior Behavior*Planner Behavior*Executer ActiveBehavior Behavior*Planner Behavior*Executer Behavior*Planner ActiveBehavior ActiveBehavior Behavior*Executer ActiveBehavior BehaviorBase.{h, cpp} (USTC) 2D / 26

16 . DecisionTree Behavior*Planner ActiveBehavior ActiveBehavior ActiveBehavior DecisionTree.{h, cpp} (USTC) 2D / 26

17 . DecisionTree Behavior*Planner ActiveBehavior ActiveBehavior ActiveBehavior DecisionTree.{h, cpp} (USTC) 2D / 26

18 . conf/ player.conf server.conf data/ formations/ src/ C++ Logfiles/ Log Debug/ Debug Makefile Release/ Release Makefile (USTC) 2D / 26

19 . dbg, dd genlog, showlog SightLog memcheck initrc dynamicdebug.txt start.sh Makefile Makefile (USTC) 2D / 26

20 . (cont.) Types.{h, cpp} Geometry.{h, cpp} Utilities.{h, cpp} Dasher.{h, cpp} Kicker.{h, cpp} Tackler.{h, cpp} Behavior.{h, cpp} CommunicationSystem.{h, cpp} VisualSystem.{h, cpp} (USTC) 2D / 26

21 . Player Client::RunNormal( ) Client::SendOptionToServer( ) Client::MainLoop( ) Observer::WaitForNewInfo( ) Player::Run( ) Observer::SetCommandSend( ) Player::Run( ) WorldModel::Update( ) DecisionTree::Decision( ) VisualSystem::Decision( ) CommunicateSystem::Decision( ) baj@mail.ustc.edu.cn (USTC) 2D / 26

22 . Player Client::RunNormal( ) Client::SendOptionToServer( ) Client::MainLoop( ) Observer::WaitForNewInfo( ) Player::Run( ) Observer::SetCommandSend( ) Player::Run( ) WorldModel::Update( ) DecisionTree::Decision( ) VisualSystem::Decision( ) CommunicateSystem::Decision( ) baj@mail.ustc.edu.cn (USTC) 2D / 26

23 . Player DecisionTree::Decision( ) DecisionTree::Search( ) Bheavior Planner::Plan( ) Bheavior Planner::Plan( ) ActiveBehavior::Execute( ) Behavior Executer::Execute( ) Bheavior Planner::Plan( ) Bheavior Planner::Plan( ) Bheavior Planner::Plan( ) baj@mail.ustc.edu.cn (USTC) 2D / 26

24 . Player DecisionTree::Decision( ) DecisionTree::Search( ) Bheavior Planner::Plan( ) Bheavior Planner::Plan( ) ActiveBehavior::Execute( ) Behavior Executer::Execute( ) Bheavior Planner::Plan( ) Bheavior Planner::Plan( ) Bheavior Planner::Plan( ) baj@mail.ustc.edu.cn (USTC) 2D / 26

25 . PlayerParam & ServerParam ParamEngine Server ParamEngine.{h, cpp}, PlayerParam.{h, cpp}, ServerParam.{h, cpp} (USTC) 2D / 26

26 . PlayerParam & ServerParam ParamEngine Server ParamEngine.{h, cpp}, PlayerParam.{h, cpp}, ServerParam.{h, cpp} (USTC) 2D / 26

27 . Dasher GetBall( ) GoToPoint( ) CycleNeedToPoint( ) RealCycleNeedToPoint( ) Dasher.{h, cpp} baj@mail.ustc.edu.cn (USTC) 2D / 26

28 . Dasher GetBall( ) GoToPoint( ) CycleNeedToPoint( ) RealCycleNeedToPoint( ) Dasher.{h, cpp} baj@mail.ustc.edu.cn (USTC) 2D / 26

29 . Kicker KickBall( ) GetMaxSpeed( ) GetStopBallAction( ) GetAccelerateBallAction( ) GetKickBallToAngleAction( ) Kicker.{h, cpp} baj@mail.ustc.edu.cn (USTC) 2D / 26

30 . Kicker KickBall( ) GetMaxSpeed( ) GetStopBallAction( ) GetAccelerateBallAction( ) GetKickBallToAngleAction( ) Kicker.{h, cpp} baj@mail.ustc.edu.cn (USTC) 2D / 26

31 . Tackler TackleStopBall( ) CanTackleStopBall( ) TackleToDir( ) CanTackleToDir( ) GetBallVelAfterTackleToDir( ) Tackler.{h, cpp} baj@mail.ustc.edu.cn (USTC) 2D / 26

32 . Tackler TackleStopBall( ) CanTackleStopBall( ) TackleToDir( ) CanTackleToDir( ) GetBallVelAfterTackleToDir( ) Tackler.{h, cpp} baj@mail.ustc.edu.cn (USTC) 2D / 26

33 . VisualSystem RaiseBall( ) RaisePlayer( ) SetForceSeeBall( ) ( ) SetForceSeePlayer( ) SetCritical( ) ForbidDecision( ) SetCanTurn( ) ChangeViewWidth( ) VisualSystem.{h, cpp} baj@mail.ustc.edu.cn (USTC) 2D / 26

34 . VisualSystem RaiseBall( ) RaisePlayer( ) SetForceSeeBall( ) ( ) SetForceSeePlayer( ) SetCritical( ) ForbidDecision( ) SetCanTurn( ) ChangeViewWidth( ) VisualSystem.{h, cpp} baj@mail.ustc.edu.cn (USTC) 2D / 26

35 . CommunicateSystem SendBallStatus( ) SendTeammateStatus( ) SendOpponentStatus( ) ParseReceivedTeammateMsg( ) CommunicateSystem.{h, cpp} baj@mail.ustc.edu.cn (USTC) 2D / 26

36 . CommunicateSystem SendBallStatus( ) SendTeammateStatus( ) SendOpponentStatus( ) ParseReceivedTeammateMsg( ) CommunicateSystem.{h, cpp} baj@mail.ustc.edu.cn (USTC) 2D / 26

37 . DynamicDebug Client gdb Client Server MsgLog MsgLog Server Client gdb (Dynamic Debug) sudo apt-get install gdb cgdb (USTC) 2D / 26

38 . DynamicDebug Client gdb Client Server MsgLog MsgLog Server Client gdb (Dynamic Debug) sudo apt-get install gdb cgdb (USTC) 2D / 26

39 . DynamicDebug..1 initrc BINARY..2 conf/player.conf team_name..3 save_server_message..4 MsgLog Logfiles/..5./dd Client..6./dbg gdb attach Client (USTC) 2D / 26

40 . Logger Client Log TextLogger Log SightLogger rcg Log./genlog MsgLog Client Log./showlog rcsslogplayer SightLog (USTC) 2D / 26

41 . Bazaar bzr init bzr add FILE... bzr commit -m COMMENT bzr log bzr revert -r REVISION_NO bzr branch FROM_LOCATION TO_LOCATION bzr merge LOCATION sudo apt-get install bzr (USTC) 2D / 26

42 . Bazaar bzr init bzr add FILE... bzr commit -m COMMENT bzr log bzr revert -r REVISION_NO bzr branch FROM_LOCATION TO_LOCATION bzr merge LOCATION sudo apt-get install bzr (USTC) 2D / 26

43 . WrightEagle 2D, WrightEagleBASE, Introduction-to-WrightEagleBASE.pdf WrightEagle 2D, WrightEagleBASE-3.0.0, WrightEagleBASE tar.gz (USTC) 2D / 26

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