soccer_strategy.game_engine_2d_with_referee.GameEngine2DWithReferee

class soccer_strategy.game_engine_2d_with_referee.GameEngine2DWithReferee(*args, **kwargs)

Bases: GameEngine2D

2D simualtor for the game engine, used for testing strategy quickly without interfacing with webots

__init__(*args, **kwargs)

Parameters:

• display – Whether to show the visualizer

• team_1_strategy – What strategy the team 1 will use

• team_2_strategy – What strategy the team 2 will use

• game_duration – How long to run the game (in minutes)

Methods

__init__(*args, **kwargs)	param display: Whether to show the visualizer
gamestate_callback_robot(gameState, robot)	Callback function for gamestate information from the webot's game controller
reset_robots()	Reset's the robot and the team back to their initial state, so a new game happen
run()	Main loop for the 2D strategy executor, runs the strategies for both team against a vispy simulator
update_estimated_physics(robots, ball)	Executes the world physics step, robot's movement, ball movement, and for fairness it runs through the priority for kicks in a random fashion.

Attributes

DISPLAY_UPDATE_INTERVAL
GAMESTATE_LOOKUP
PHYSICS_UPDATE_INTERVAL
SECONDARY_STATE_LOOKUP
SECONDARY_STATE_MODE_LOOKUP

gamestate_callback_robot(gameState: GameState, robot: RobotControlled2D)

Callback function for gamestate information from the webot’s game controller

Parameters:

gameState – Contains information about the game, whether it is playing or paused etc

reset_robots()

Reset’s the robot and the team back to their initial state, so a new game happen

run()

Main loop for the 2D strategy executor, runs the strategies for both team against a vispy simulator

update_estimated_physics(robots: [<class 'soccer_strategy.robot_controlled_2d.RobotControlled2D'>], ball: ~soccer_strategy.ball.Ball)

Executes the world physics step, robot’s movement, ball movement, and for fairness it runs through the priority for kicks in a random fashion.

Parameters:

• robots – The list of all robots including enemy robots

• ball – The ball in the game