random

Create a random team i.e. team where each agent takes a random action (used for testing)

RandomAgent Objects

class RandomAgent(Agent)

Agents that move randomly

move

 | move(state_prev, state, reward)

Move the agent randomly

RandomTeam Objects

class RandomTeam(Team)

A team of random agents

move

 | move(state_prev, state, reward)

Move each player randomly

human

Create a Human team i.e. controlled by the keyboard

HumanAgent Objects

class HumanAgent(Agent)

Agents controlled by humans

draw

 | draw(win, cam, team_id, selected=0, debug=False)

Draw the human agent. Also draws a red triangle on top of the selected player

move

 | move(state_prev, state, reward)

Move the human agent based on the keyboard

HumanTeam Objects

class HumanTeam(Team)

A team of human players

update

 | update(action, ball)

Select a player (based on the Ball's state) and update the team's state based on the received actions and the ball's position

draw

 | draw(win, cam, debug)

Draw the human team

select_player

 | select_player(ball)

Select the player that is controlled by the keyboard

Working:

If ball is near the D-area, keeper gets automatic control
Otherwise the player nearest to the ball has control (ties are broken randomly)

formation_dir

 | formation_dir(id)

Send player (with the given ID) to his designated place in the formation

Working:

If player is in-line (horizontally or vertically), move directly towards original point (U/L/D/R)
Otherwise choose 2 directions that take you closer to the original point and choose one of them randomly (UL/UR/DL/DR)

move

 | move(state_prev, state, reward)

Move a human team

Working:

Player nearest to the ball moves through keyboard
All other players return to their original positions (if maintain_formation is set)

network

Create a team that can be controlled over the network

NetworkAgent Objects

class NetworkAgent(Agent)

Agent that can be controlled over the network (online)

Use the register_keystroke() function to add keys from the server (socket)

init

 | __init__(id, team_id, pos, dir='L')

Initialize the network agent

The agent maintains a queue of the received keystrokes

register_keystroke

 | register_keystroke(key)

Use this method within the server's socket

move

 | move(state_prev, state, reward)

Move the network agent based on it's internal queue

NetworkTeam Objects

class NetworkTeam(Team)

A team of network players

update

 | update(action, ball)

Select a player (based on the Ball's state) and update the team's state based on the received actions and the ball's position

select_player

 | select_player(ball)

Select the player that is controlled by the keyboard

Working:

If ball is near the D-area, keeper gets automatic control
Otherwise the player nearest to the ball has control (ties are broken randomly)

register_keystroke

 | register_keystroke(key)

formation_dir

 | formation_dir(id)

Send player (with the given ID) to his designated place in the formation

Working:

If player is in-line (horizontally or vertically), move directly towards original point (U/L/D/R)
Otherwise choose 2 directions that take you closer to the original point and choose one of them randomly (UL/UR/DL/DR)

move

 | move(state_prev, state, reward)

Move a network team

Working:

Player nearest to the ball moves through keyboard
All other players return to their original positions (if maintain_formation is set)

original_ai

Create a hardcoded AI team i.e. actions are determined using simple geometry

OriginalAIAgent Objects

class OriginalAIAgent(Agent)

Harcoded AI agents that play like the original AI (designed in 2013) Takes an additional difficulty arguement

draw

 | draw(win, cam, team_id, debug=False)

Draw an AI agent

Also displays circles with AI_FAR_RADIUS and AI_NEAR_RADIUS when debug is True

dist_to_line

 | dist_to_line(line, pt)

perpendicular of a pt from the given line

Attributes:

line tuple - A straight line representing xline[0] + yline[1] + line[2] = 0
pt Point - a 2D point

ai_move_with_ball

 | ai_move_with_ball(enemy_players, goal_x)

How AI players move when they have the ball

Attributes:

enemy_players list - A list of the positions (coordinates) of the enemy players
goal_x int - The x-coordinate of the enemy's goal post

Returns an ACT

Working:

If this player has the ball
Calculate vectors towards the goal and away from nearby players of the opposite team
Add up all these vectors and move in that direction (probabilistically)
enemy_players: positions of all of the enemy team

ai_move_without_ball

 | ai_move_without_ball(ball)

How AI players move when they do not have the ball

Attributes:

ball Point - position of the ball

Returns an ACT

Working:

If the ball is within its AI_FAR_RADIUS, move towards the ball (probabilistically)
Otherwise, do NOTHING

ai_pass

 | ai_pass(team_players, enemy_team_players)

How AI players pass the ball

Attributes:

team_players list - A list of the positions (coordinates) of the team players
enemy_team_players list - A list of the positions (coordinates) of the enemy team players

Returns an ACT

Working:

Pass the ball such that the perpendicular distance to the pass line is less than AI_MIN_PASS_DIST
Pass is valid if no enemy is nearer than a team player in that direction
Note - The origin is at top-left instead of the standard bottom-left so we map y to H-y

ai_shoot

 | ai_shoot(gk, goal_x)

How AI players shoot the ball

Attributes:

gk Agent - The enemy's goalkeeper agent
goal_x int - the x-coordinate of the enemy's

Returns an ACT

Working:

Only shoots if within AI_SHOOT_RADIUS of the enemy goal
Shoots to maximize distance between keeper and shot while keeping the shot within goal boundaries
Note - The origin is at top-left instead of the standard bottom-left so we map y to H-y

gk_move

 | gk_move(goal_x, ball)

How the AI goalkeeper moves

Attributes:

goal_x int - the x-coordinate of the enemy's
ball Ball - The football object

Returns an ACT

Working:

Moves towards the ball (tracks the y coordinate)
Does not go outside the goals boundary

gk_pass

 | gk_pass(enemy_players, goal_x)

How the AI goalkeeper passes

Attributes:

enemy_players list - A list of the positions (coordinates) of the enemy players
goal_x int - The x-coordinate of the team's goal post

Returns an ACT

Working:

Pass such that enemy players in AI_SHOOT_RADIUS do not get the ball

move

 | move(state_prev, state, reward, selected)

Umbrella function that is used to move the player. Overrides the Agent's move() method

Returns an ACT

Working:

if the selected player is the goal keeper and it has the ball: call ai_gk_pass()
else if the selected player is the goal keeper and it does not have the ball: call ai_gk_move()
else If the selected player is within AI_SHOOT_RADIUS of the enemy's goal post and it has the ball: call ai_shoot()
else If the selected player has the ball: call ai_pass() or ai_move() based on the PASS_PROB
else call ai_move_without_ball() or ai_move_with_ball()

OriginalAITeam Objects

class OriginalAITeam(Team)

The AI team used in the original (C++) version

select_player

 | select_player(ball)

Select a player based on the balls position

Working:

If ball is near the D-area, keeper gets automatic control
Otherwise the player nearest to the ball has control (ties are broken randomly)

formation_dir

 | formation_dir(id)

Send player (with the given ID) to his designated place in the formation

Working:

If player is in-line (horizontally or vertically), move directly towards original point (U/L/D/R)
Otherwise choose 2 directions that take you closer to the original point and choose one of them randomly (UL/UR/DL/DR)

move

 | move(state_prev, state, reward)

Move each player in the team. Call this method to move the team