| (turn Moment) |
| Change the direction of the player according to Moment. Moment should be between minmoment and maxmoment (default is [-180, 180]. The actual change of direction is reduced when the player is moving quickly. See Section 3.1.4 for more info. |
| (turn-neck Angle) |
| Adds Angle to the clients neck angle (ie angle at which the view cone extends from the player) The neck angle must be between [-90,90]. The neck angle is always relative to the angle of the player, so if a turn command is issued, the view angle also changes. See Section 3.1.4 for more info. |
| (dash Power) |
| Increases the velocity of the player in the direction it is facing by . Power should be between minpower and maxpower (default: [-30, 100]). If power is negative, then the player is effectively dashing backwards. See Section 3.1.4 for more info. |
| (kick Power Direction) |
| Kick the ball with Power in Direction if the ball is near enough (the distance to the ball is less than .). Power should be between minpower and maxpower (default is [-30,100). Direction should be between minmoment and maxmoment (default is [-180,180]). See Section 3.1.4 for more info. |
| (move X Y) |
| Move the player to the position ( X, Y). The origin is the center mark, and the X-axis and Y-axis are toward the opponent's goal and the right touchline respectively. Thus, X is usually negative to locate a player in its own side of the field. |
| This command is available only in the before_kick_off mode, and for the goalie immediately after catching the ball (see the catch) command. |
| (catch Direction) |
| Tries to catch the ball in direction Direction. Direction should be in [-180, 180]. This command is permitted only for goalie clients. The player (goalie) can catch the ball when the ball is in the rectangle with width is goalie_catchable_area_w (default=1), length is goalie_catchable_area_l (default=2) and the direction is Direction. The probability the catch is successful if it is in the rectangle is given by the parameter catch_probability. Also note that the goalie can only do 1 catch every few cycles (specified by the catch_ban_cycle parameter). If the goalie tries to catch again during the ban cycle, the command is ignored. If the catch is successful, the server goes into free kick mode. Once it has caught the ball, the goalie can move within the penalty box with the move command. The ball moves with the agent. However, a catch does not immediatly change the position or facing direction of the goalie. |
| (say Message) |
Broadcast Message to all players.
Message is informed immediately
to clients as sensor information in the (hear ...)
format described below.
Message must be a string with length less than 512 characters,
and consists of alphanumeric characters
and the symbols ``+-*/_.() ''.
There is a maximum distance that messages can be heard.
See the section on auditory information for specifics. |
| (change_view ANGLE_WIDTH QUALITY) |
| Change angle of view cone and quality of visual information. ANGLE_WIDTH must be one of wide (=180 degrees), normal (= 90 degrees) and narrow (=45 degrees). QUALITY must be one of high and low. In the case of high quality, the server begins to send detailed information about positions of objects to the client. In the case of low quality, the server begins to send reduced information about positions (only directions, no distance) of objects to the client. Default values of angle and quality are normal and high respectively. |
| On the other hand, the frequency of visual information sent by the server changes according to the angle and the quality: In the case that the angle is normal and the quality is high, the information is sent every 150 milli-sec. (The interval is modifiable by specifying send_step in the parameter file.) When the angle changes to wide the frequency is halved, and when the angle changes to narrow the frequency is doubled. When the quality is low, the frequency is doubled. For example, when the angle is narrow and the quality is low, the information is sent every 37.5 milli-sec. |