diff --git a/consai_game/consai_game/tactic/ball_clear.py b/consai_game/consai_game/tactic/ball_clear.py index c5f46faa..9ba05472 100644 --- a/consai_game/consai_game/tactic/ball_clear.py +++ b/consai_game/consai_game/tactic/ball_clear.py @@ -19,7 +19,7 @@ """ from consai_game.core.tactic.tactic_base import TacticBase -from consai_game.tactic.kick.kick import Kick +from consai_game.tactic.kick import Kick from consai_game.world_model.world_model import WorldModel from consai_tools.hysteresis.hysteresis import Hysteresis diff --git a/consai_game/consai_game/tactic/composite/composite_defense.py b/consai_game/consai_game/tactic/composite/composite_defense.py index fb44ed27..c5c3fd01 100644 --- a/consai_game/consai_game/tactic/composite/composite_defense.py +++ b/consai_game/consai_game/tactic/composite/composite_defense.py @@ -17,7 +17,7 @@ """ from consai_game.core.tactic.tactic_base import TacticBase -from consai_game.tactic.kick.kick import Kick +from consai_game.tactic.kick import Kick from consai_game.tactic.receive import Receive from consai_game.world_model.world_model import WorldModel from consai_tools.geometry import geometry_tools as tool diff --git a/consai_game/consai_game/tactic/composite/composite_offense.py b/consai_game/consai_game/tactic/composite/composite_offense.py index 652f6b04..26cb0fab 100644 --- a/consai_game/consai_game/tactic/composite/composite_offense.py +++ b/consai_game/consai_game/tactic/composite/composite_offense.py @@ -17,7 +17,7 @@ """ import copy from consai_game.core.tactic.tactic_base import TacticBase -from consai_game.tactic.kick.kick import Kick +from consai_game.tactic.kick import Kick from consai_game.tactic.receive import Receive from consai_game.world_model.world_model import WorldModel from consai_game.tactic.steal_ball import StealBall diff --git a/consai_game/consai_game/tactic/kick/kick.py b/consai_game/consai_game/tactic/kick.py similarity index 100% rename from consai_game/consai_game/tactic/kick/kick.py rename to consai_game/consai_game/tactic/kick.py diff --git a/consai_game/consai_game/tactic/kick/shoot.py b/consai_game/consai_game/tactic/kick/shoot.py deleted file mode 100644 index caf7bb71..00000000 --- a/consai_game/consai_game/tactic/kick/shoot.py +++ /dev/null @@ -1,57 +0,0 @@ -# Copyright 2025 Roots -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -"""シュート動作に関するTacticを定義するモジュール.""" - -from consai_game.world_model.world_model import WorldModel -from consai_game.core.tactic.tactic_base import TacticBase, TacticState -from consai_game.tactic.kick.kick import Kick -from consai_msgs.msg import MotionCommand, State2D - - -class Shoot(TacticBase): - """シュート動作を行うTactic""" - - def __init__(self): - """シュートのTacticインスタンスを初期化する関数.""" - super().__init__() - - self.kick_tactic = Kick(x=6.0, y=0.0, is_pass=True) - - def reset(self, robot_id: int) -> None: - """ロボットIDを設定し, Tacticの状態をRUNNINGにリセットする関数.""" - self.robot_id = robot_id - self.state = TacticState.RUNNING - self.kick_tactic.reset(robot_id) - - def run(self, world_model: WorldModel, x=6.0, y=0.0) -> MotionCommand: - """シュートを実行するためのMotionCommandを生成する関数.""" - - # キックターゲットを取得 - kick_target_model = world_model.kick_target - if kick_target_model.best_shoot_target.success_rate > 50: - # シュートターゲットの位置を取得 - target_pos = kick_target_model.best_shoot_target.pos - elif kick_target_model.best_pass_target.success_rate > 50 and kick_target_model.best_pass_target.robot_id != -1: - # パスターゲットの位置を取得 - target_pos = kick_target_model.best_pass_target.robot_pos - else: - # デフォルトのシュートターゲットの位置を設定 - target_pos = State2D() - target_pos.x = x - target_pos.y = y - - self.kick_tactic.target_pos = target_pos - - return self.kick_tactic.run(world_model) diff --git a/consai_game/consai_game/utils/make_graph_state_machine.py b/consai_game/consai_game/utils/make_graph_state_machine.py index eb94cbf9..63f38f90 100644 --- a/consai_game/consai_game/utils/make_graph_state_machine.py +++ b/consai_game/consai_game/utils/make_graph_state_machine.py @@ -17,7 +17,7 @@ import os from consai_game.tactic.dribble import DribbleStateMachine -from consai_game.tactic.kick.kick import KickStateMachine +from consai_game.tactic.kick import KickStateMachine from consai_game.tactic.swab import SwabStateMachine from consai_game.tactic.back_dribble import BackDribbleStateMachine