{"id":9944,"date":"2025-04-18T17:43:27","date_gmt":"2025-04-18T09:43:27","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/9944.html"},"modified":"2025-04-18T17:43:27","modified_gmt":"2025-04-18T09:43:27","slug":"robocup-2d%e6%9c%8d%e5%8a%a1%e5%99%a8%e8%af%a6%e8%a7%a3%e4%b8%8e%e4%bb%bf%e7%9c%9f%e5%b9%b3%e5%8f%b0%e6%90%ad%e5%bb%ba%e6%8c%87%e5%8d%97","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/9944.html","title":{"rendered":"RoboCup 2D\u670d\u52a1\u5668\u8be6\u89e3\u4e0e\u4eff\u771f\u5e73\u53f0\u642d\u5efa\u6307\u5357"},"content":{"rendered":"<p>  \u672c\u6587\u8fd8\u6709\u914d\u5957\u7684\u7cbe\u54c1\u8d44\u6e90&#xff0c;\u70b9\u51fb\u83b7\u53d6  <img decoding=\"async\" alt=\"menu-r.4af5f7ec.gif\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418094326-68021ebeacaeb.gif\" style=\"width:16px;margin-left:4px;vertical-align:text-bottom\" \/><\/p>\n<p> \u7b80\u4ecb&#xff1a;\u672c\u6587\u6df1\u5165\u4ecb\u7ecd\u4e86RoboCup 2D\u670d\u52a1\u5668\u7684\u529f\u80fd\u548c\u539f\u7406&#xff0c;\u5b83\u662f\u6a21\u62df\u8db3\u7403\u6bd4\u8d5b\u7684\u4eff\u771f\u73af\u5883\u6838\u5fc3\u3002\u6587\u7ae0\u8be6\u7ec6\u6307\u5bfc\u4e86\u5982\u4f55\u642d\u5efa2D\u4eff\u771f\u5e73\u53f0&#xff0c;\u5305\u62ec\u73af\u5883\u51c6\u5907\u3001\u83b7\u53d6\u6e90\u7801\u3001\u7f16\u8bd1\u6e90\u7801\u3001\u914d\u7f6e\u670d\u52a1\u5668\u3001\u542f\u52a8\u670d\u52a1\u5668\u3001\u7f16\u5199\u673a\u5668\u4eba\u63a7\u5236\u5668\u548c\u8fd0\u884c\u4eff\u771f\u7b49\u6b65\u9aa4\u3002\u5bf9\u9047\u5230\u7684\u95ee\u9898\u63d0\u4f9b\u4e86\u89e3\u51b3\u65b9\u6848&#xff0c;\u5e76\u6982\u8ff0\u4e86\u5e73\u53f0\u642d\u5efa\u6240\u9700\u7684\u6280\u672f\u77e5\u8bc6\u3002 <img decoding=\"async\" alt=\"RoboCup 2D\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418094326-68021ebeb3e6f.jpg\" \/><\/p>\n<h2> 1. RoboCup 2D\u670d\u52a1\u5668\u6838\u5fc3\u6982\u5ff5 <\/h2>\n<h3> 1.1 RoboCup 2D\u4eff\u771f\u73af\u5883\u7b80\u4ecb <\/h3>\n<p> RoboCup 2D\u670d\u52a1\u5668\u63d0\u4f9b\u4e86\u4e00\u4e2a\u6807\u51c6\u7684\u8db3\u7403\u6bd4\u8d5b\u73af\u5883&#xff0c;\u901a\u8fc72D\u56fe\u5f62\u754c\u9762\u6a21\u62df\u673a\u5668\u4eba\u8db3\u7403\u6bd4\u8d5b\u3002\u5b83\u4f7f\u5f97\u7814\u7a76\u4eba\u5458\u53ef\u4ee5\u5728\u6ca1\u6709\u5b9e\u9645\u7269\u7406\u673a\u5668\u4eba\u7684\u6761\u4ef6\u4e0b\u6d4b\u8bd5\u548c\u8bc4\u4f30\u7b97\u6cd5\u3002\u5728\u8fd9\u4e2a\u73af\u5883\u4e2d&#xff0c;\u56e2\u961f\u753111\u4e2a\u865a\u62df\u673a\u5668\u4eba\u7ec4\u6210&#xff0c;\u8fd9\u4e9b\u673a\u5668\u4eba\u7531\u670d\u52a1\u5668\u4e2d\u7684\u8f6f\u4ef6\u4ee3\u7406\u63a7\u5236\u3002\u6bd4\u8d5b\u9075\u5faaRoboCup\u8054\u5408\u4f1a\u5236\u5b9a\u7684\u89c4\u5219&#xff0c;\u76ee\u7684\u662f\u4fc3\u8fdb\u4eba\u5de5\u667a\u80fd\u548c\u673a\u5668\u4eba\u6280\u672f\u7684\u53d1\u5c55\u3002 <\/p>\n<h3> 1.2 \u6838\u5fc3\u7ec4\u4ef6\u4e0e\u529f\u80fd <\/h3>\n<p> RoboCup 2D\u670d\u52a1\u5668\u7684\u6838\u5fc3\u5305\u62ec\u4ee5\u4e0b\u51e0\u4e2a\u7ec4\u4ef6&#xff1a; <\/p>\n<ul>\n<li>  \u6bd4\u8d5b\u5f15\u64ce  &#xff1a;\u8d1f\u8d23\u6a21\u62df\u7269\u7406\u73af\u5883&#xff0c;\u5982\u7403\u548c\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u3002 <\/li>\n<li>  \u89c6\u89c9\u7cfb\u7edf  &#xff1a;\u63d0\u4f9b\u673a\u5668\u4eba\u89c6\u89d2\u7684\u56fe\u50cf&#xff0c;\u7528\u4e8e\u673a\u5668\u4eba\u7684\u51b3\u7b56\u5236\u5b9a\u3002 <\/li>\n<li>  \u76d1\u542c\u5668&#xff08;Listener&#xff09;\u548c\u4ee3\u7406&#xff08;Agent&#xff09;  &#xff1a;\u5206\u522b\u7528\u4e8e\u63a5\u6536\u73af\u5883\u4fe1\u606f\u548c\u53d1\u51fa\u63a7\u5236\u6307\u4ee4\u3002 <\/li>\n<li>  \u88c1\u5224\u7cfb\u7edf  &#xff1a;\u786e\u4fdd\u6bd4\u8d5b\u7684\u516c\u6b63\u6027&#xff0c;\u5e76\u5904\u7406\u6bd4\u8d5b\u4e2d\u7684\u5404\u79cd\u4e8b\u4ef6\u3002 <\/li>\n<\/ul>\n<p> \u4e3a\u4e86\u6df1\u5165\u7406\u89e3\u8fd9\u4e9b\u7ec4\u4ef6\u5982\u4f55\u4ea4\u4e92&#xff0c;\u53ef\u4ee5\u5c06\u5b83\u4eec\u7c7b\u6bd4\u4e3a\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u8db3\u7403\u6bd4\u8d5b\u3002\u6bd4\u8d5b\u5f15\u64ce\u5c31\u662f\u573a\u5730\u548c\u8db3\u7403&#xff0c;\u89c6\u89c9\u7cfb\u7edf\u662f\u7403\u5458\u7684\u773c\u775b&#xff0c;\u76d1\u542c\u5668\u548c\u4ee3\u7406\u662f\u7403\u5458\u7684\u5927\u8111\u548c\u808c\u8089&#xff0c;\u88c1\u5224\u7cfb\u7edf\u5219\u662f\u573a\u4e0a\u7684\u88c1\u5224\u3002 <\/p>\n<h3> 1.3 \u5f00\u53d1\u4e0e\u6d4b\u8bd5\u7684\u4f18\u52bf <\/h3>\n<p> RoboCup 2D\u670d\u52a1\u5668\u4e3aAI\u548c\u673a\u5668\u5b66\u4e60\u7684\u7814\u7a76\u63d0\u4f9b\u4e86\u8bf8\u591a\u4f18\u52bf&#xff1a; <\/p>\n<ul>\n<li>  \u53ef\u91cd\u590d\u6027  &#xff1a;\u6bcf\u6b21\u4eff\u771f\u90fd\u662f\u5728\u76f8\u540c\u7684\u6761\u4ef6\u4e0b\u8fdb\u884c&#xff0c;\u786e\u4fdd\u6d4b\u8bd5\u7684\u4e00\u81f4\u6027\u3002 <\/li>\n<li>  \u5b89\u5168\u6027  &#xff1a;\u7531\u4e8e\u662f\u865a\u62df\u73af\u5883&#xff0c;\u7814\u7a76\u8005\u53ef\u4ee5\u5728\u6ca1\u6709\u786c\u4ef6\u635f\u574f\u98ce\u9669\u7684\u60c5\u51b5\u4e0b\u6d4b\u8bd5\u521b\u65b0\u7684\u7b97\u6cd5\u3002 <\/li>\n<li>  \u7ecf\u6d4e\u6027  &#xff1a;\u65e0\u9700\u6602\u8d35\u7684\u7269\u7406\u673a\u5668\u4eba\u548c\u573a\u5730\u8bbe\u65bd\u3002 <\/li>\n<li>  \u5b9e\u65f6\u6027  &#xff1a;\u4eff\u771f\u73af\u5883\u4e2d\u7684\u6bd4\u8d5b\u53ef\u4ee5\u5b9e\u65f6\u8fdb\u884c&#xff0c;\u4fbf\u4e8e\u5feb\u901f\u8fed\u4ee3\u5f00\u53d1\u548c\u7b56\u7565\u6d4b\u8bd5\u3002 <\/li>\n<\/ul>\n<p> \u4e0b\u4e00\u7ae0\u5c06\u8be6\u7ec6\u63a2\u8ba8\u4e2d\u95f4\u72b6\u6001\u673a&#xff08;ISM&#xff09;\u6a21\u578b&#xff0c;\u5b83\u662fRoboCup 2D\u73af\u5883\u4e2d\u5b9e\u73b0\u673a\u5668\u4eba\u884c\u4e3a\u63a7\u5236\u7684\u5173\u952e\u6280\u672f\u3002 <\/p>\n<h2> 2. \u4e2d\u95f4\u72b6\u6001\u673a&#xff08;ISM&#xff09;\u6a21\u578b <\/h2>\n<p> \u5728\u73b0\u4ee3\u8f6f\u4ef6\u5f00\u53d1\u4e2d&#xff0c;\u4e2d\u95f4\u72b6\u6001\u673a&#xff08;Intermidiate State Machine&#xff0c;ISM&#xff09;\u6a21\u578b\u5df2\u7ecf\u6210\u4e3a\u6784\u5efa\u590d\u6742\u7cfb\u7edf\u7279\u522b\u662f\u6e38\u620f\u548c\u6a21\u62df\u5668\u7684\u5173\u952e\u7ec4\u4ef6\u4e4b\u4e00\u3002ISM\u901a\u8fc7\u5b9a\u4e49\u660e\u786e\u7684\u72b6\u6001\u548c\u72b6\u6001\u95f4\u7684\u8f6c\u6362\u89c4\u5219&#xff0c;\u63d0\u4f9b\u4e86\u4e00\u79cd\u6e05\u6670\u7684\u7ed3\u6784\u6765\u7ba1\u7406\u7cfb\u7edf\u7684\u52a8\u6001\u884c\u4e3a\u3002\u5728RoboCup 2D\u4eff\u771f\u73af\u5883\u7684\u4e0a\u4e0b\u6587\u4e2d&#xff0c;ISM\u6a21\u578b\u4e3a\u63a7\u5236\u673a\u5668\u4eba\u884c\u4e3a\u63d0\u4f9b\u4e86\u5f3a\u5927\u7684\u62bd\u8c61\u3002 <\/p>\n<h3> 2.1 \u4e2d\u95f4\u72b6\u6001\u673a\u7684\u57fa\u672c\u539f\u7406 <\/h3>\n<h4> 2.1.1 \u72b6\u6001\u673a\u7684\u5b9a\u4e49\u548c\u4f5c\u7528 <\/h4>\n<p> \u72b6\u6001\u673a\u662f\u4e00\u79cd\u8ba1\u7b97\u6a21\u578b&#xff0c;\u7531\u4e00\u7cfb\u5217\u72b6\u6001\u3001\u72b6\u6001\u4e4b\u95f4\u7684\u8f6c\u6362\u4ee5\u53ca\u89e6\u53d1\u8fd9\u4e9b\u8f6c\u6362\u7684\u4e8b\u4ef6\u7ec4\u6210\u3002\u72b6\u6001\u4ee3\u8868\u4e86\u7cfb\u7edf\u5728\u67d0\u4e00\u65f6\u523b\u7684\u6761\u4ef6\u6216\u60c5\u51b5\u3002\u8f6c\u6362\u5219\u662f\u7cfb\u7edf\u4ece\u4e00\u4e2a\u72b6\u6001\u79fb\u52a8\u5230\u53e6\u4e00\u4e2a\u72b6\u6001\u7684\u8fc7\u7a0b&#xff0c;\u901a\u5e38\u7531\u4e8b\u4ef6\u6765\u89e6\u53d1\u3002 <\/p>\n<p> \u5728RoboCup 2D\u4eff\u771f\u73af\u5883\u4e2d&#xff0c;\u4e00\u4e2a\u72b6\u6001\u53ef\u4ee5\u662f\u673a\u5668\u4eba\u7684\u201c\u5b9a\u4f4d\u201d\u3001\u201c\u5e26\u7403\u201d\u3001\u201c\u5c04\u95e8\u201d\u7b49\u884c\u4e3a\u3002\u5f53\u673a\u5668\u4eba\u5b8c\u6210\u5b9a\u4f4d\u884c\u4e3a&#xff0c;\u5b83\u53ef\u80fd\u57fa\u4e8e\u5f53\u524d\u6e38\u620f\u7684\u9700\u8981&#xff0c;\u901a\u8fc7\u4e00\u4e2a\u4e8b\u4ef6&#xff08;\u6bd4\u5982\u63a5\u5230\u4e00\u4e2a\u547d\u4ee4\u6216\u8005\u7403\u5230\u8fbe\u4e00\u5b9a\u4f4d\u7f6e&#xff09;\u8fdb\u5165\u201c\u5e26\u7403\u201d\u72b6\u6001\u3002 <\/p>\n<p> \u72b6\u6001\u673a\u5bf9\u4e8e\u786e\u4fdd\u7cfb\u7edf\u884c\u4e3a\u7684\u6b63\u786e\u6027\u548c\u53ef\u9884\u6d4b\u6027\u81f3\u5173\u91cd\u8981\u3002\u5b83\u4f7f\u5f97\u5f00\u53d1\u8005\u80fd\u591f\u4ee5\u6a21\u5757\u5316\u548c\u53ef\u7ef4\u62a4\u7684\u65b9\u5f0f\u7ec4\u7ec7\u590d\u6742\u7684\u903b\u8f91&#xff0c;\u56e0\u4e3a\u5b83\u5e2e\u52a9\u5f00\u53d1\u8005\u53ef\u89c6\u5316\u548c\u7406\u89e3\u7cfb\u7edf\u7684\u884c\u4e3a\u3002 <\/p>\n<h4> 2.1.2 \u4e2d\u95f4\u72b6\u6001\u673a\u5728RoboCup 2D\u4e2d\u7684\u5e94\u7528 <\/h4>\n<p> \u5728RoboCup 2D\u73af\u5883\u4e2d&#xff0c;ISM\u6a21\u578b\u88ab\u7528\u6765\u5904\u7406\u673a\u5668\u4eba\u7684\u884c\u4e3a\u51b3\u7b56\u3002\u6bcf\u53f0\u673a\u5668\u4eba\u53ef\u4ee5\u88ab\u770b\u4f5c\u662f\u4e00\u4e2a\u5c0f\u578b\u7684\u72b6\u6001\u673a&#xff0c;\u5b83\u6839\u636e\u6bd4\u8d5b\u7684\u4e0d\u540c\u9636\u6bb5\u548c\u73af\u5883\u7684\u53d8\u5316&#xff0c;\u5728\u5404\u79cd\u4e0d\u540c\u7684\u72b6\u6001\u95f4\u8fdb\u884c\u8f6c\u6362\u3002 <\/p>\n<p> \u4f8b\u5982&#xff0c;\u5f53\u6bd4\u8d5b\u5f00\u59cb\u65f6&#xff0c;\u6bcf\u53f0\u673a\u5668\u4eba\u90fd\u4f1a\u5904\u4e8e\u201c\u521d\u59cb\u5b9a\u4f4d\u201d\u72b6\u6001&#xff0c;\u5b83\u5c06\u89c2\u5bdf\u6bd4\u8d5b\u573a\u5730&#xff0c;\u7136\u540e\u6839\u636e\u89c2\u5bdf\u7ed3\u679c\u8f6c\u6362\u5230\u201c\u5bfb\u627e\u76ee\u6807\u201d\u72b6\u6001\u3002\u5f53\u673a\u5668\u4eba\u53d1\u73b0\u7403\u5e76\u63a5\u6536\u5230\u8fdb\u653b\u6307\u4ee4\u65f6&#xff0c;\u72b6\u6001\u53ef\u80fd\u8f6c\u6362\u5230\u201c\u5feb\u901f\u524d\u63d2\u201d\u72b6\u6001\u3002 <\/p>\n<p> ISM\u6a21\u578b\u901a\u8fc7\u5b9a\u4e49\u6e05\u6670\u7684\u63a5\u53e3\u548c\u903b\u8f91&#xff0c;\u786e\u4fdd\u4e86\u6574\u4e2a\u56e2\u961f\u7684\u884c\u4e3a\u534f\u8c03\u4e00\u81f4&#xff0c;\u4f7f\u7cfb\u7edf\u7684\u63a7\u5236\u66f4\u52a0\u7cbe\u7ec6\u548c\u53ef\u63a7\u3002\u800c\u4e14&#xff0c;\u72b6\u6001\u673a\u7684\u6e05\u6670\u6027\u548c\u6a21\u5757\u5316\u4e5f\u4f7f\u5f97\u5bf9\u5355\u4e2a\u72b6\u6001\u8fdb\u884c\u4f18\u5316\u548c\u7ef4\u62a4\u66f4\u52a0\u5bb9\u6613\u3002 <\/p>\n<p>\/\/ \u4f2a\u4ee3\u7801\u793a\u4f8b&#xff1a;ISM\u6a21\u578b\u7684\u72b6\u6001\u8f6c\u6362<br \/>\nenum State { IDLE, SEEKING, ATTACKING };<br \/>\nState currentState &#061; IDLE;<\/p>\n<p>void transitionTo(State newState) {<br \/>\n    switch (currentState) {<br \/>\n        case IDLE:<br \/>\n            if (event &#061;&#061; SEE\u8fdb\u7403) {<br \/>\n                currentState &#061; ATTACKING;<br \/>\n            } else if (event &#061;&#061; SEE\u654c\u65b9) {<br \/>\n                currentState &#061; SEEKING;<br \/>\n            }<br \/>\n            break;<br \/>\n        case SEEKING:<br \/>\n            if (event &#061;&#061; FIND\u8fdb\u7403) {<br \/>\n                currentState &#061; ATTACKING;<br \/>\n            } else if (event &#061;&#061; TIME_OUT) {<br \/>\n                currentState &#061; IDLE;<br \/>\n            }<br \/>\n            break;<br \/>\n        case ATTACKING:<br \/>\n            if (event &#061;&#061; SCORE) {<br \/>\n                currentState &#061; IDLE;<br \/>\n            }<br \/>\n            break;<br \/>\n    }<br \/>\n}<\/p>\n<p> \u5728\u4e0a\u8ff0\u4f2a\u4ee3\u7801\u4e2d&#xff0c;\u5b9a\u4e49\u4e86\u4e00\u4e2a\u72b6\u6001\u679a\u4e3e&#xff0c;\u5e76\u901a\u8fc7  transitionTo  \u51fd\u6570\u6765\u5904\u7406\u72b6\u6001\u4e4b\u95f4\u7684\u8f6c\u6362\u903b\u8f91\u3002\u4e8b\u4ef6&#xff08;\u5982  SEE\u8fdb\u7403  \u3001  SEE\u654c\u65b9  \u3001  FIND\u8fdb\u7403  \u7b49&#xff09;\u89e6\u53d1\u72b6\u6001\u8f6c\u6362\u3002 <\/p>\n<h3> 2.2 \u72b6\u6001\u8f6c\u6362\u548c\u4e8b\u4ef6\u89e6\u53d1\u673a\u5236 <\/h3>\n<h4> 2.2.1 \u72b6\u6001\u8f6c\u6362\u7684\u6761\u4ef6\u548c\u8fc7\u7a0b <\/h4>\n<p> \u72b6\u6001\u8f6c\u6362\u7684\u6761\u4ef6\u662f\u7531\u5185\u90e8\u6216\u5916\u90e8\u4e8b\u4ef6\u51b3\u5b9a\u7684\u3002\u5728ISM\u6a21\u578b\u4e2d&#xff0c;\u72b6\u6001\u8f6c\u6362\u9700\u8981\u660e\u786e\u7684\u6761\u4ef6\u5224\u65ad\u903b\u8f91&#xff0c;\u8fd9\u4e9b\u903b\u8f91\u901a\u5e38\u5b9a\u4e49\u5728\u72b6\u6001\u8f6c\u6362\u51fd\u6570\u4e2d\u3002 <\/p>\n<p> \u4e8b\u4ef6\u53ef\u4ee5\u662f\u5916\u90e8\u53d1\u751f\u7684&#xff0c;\u5982\u7528\u6237\u8f93\u5165\u6216\u8005\u4f20\u611f\u5668\u4fe1\u606f&#xff0c;\u4e5f\u53ef\u4ee5\u662f\u5185\u90e8\u751f\u6210\u7684&#xff0c;\u5982\u5b9a\u65f6\u5668\u6ea2\u51fa\u6216\u6761\u4ef6\u6ee1\u8db3\u3002\u8fd9\u4e9b\u4e8b\u4ef6\u4f1a\u89e6\u53d1\u72b6\u6001\u673a\u8fdb\u884c\u68c0\u67e5&#xff0c;\u4ee5\u786e\u5b9a\u662f\u5426\u6ee1\u8db3\u8f6c\u6362\u5230\u65b0\u72b6\u6001\u7684\u6761\u4ef6\u3002 <\/p>\n<p> \u72b6\u6001\u8f6c\u6362\u7684\u8fc7\u7a0b\u901a\u5e38\u5305\u542b\u4ee5\u4e0b\u51e0\u4e2a\u6b65\u9aa4&#xff1a; <\/p>\n<li> \u76d1\u6d4b\u4e8b\u4ef6&#xff1a;\u72b6\u6001\u673a\u7b49\u5f85\u6216\u76d1\u542c\u89e6\u53d1\u72b6\u6001\u8f6c\u6362\u7684\u4e8b\u4ef6\u3002 <\/li>\n<li> \u6761\u4ef6\u8bc4\u4f30&#xff1a;\u4e00\u65e6\u4e8b\u4ef6\u53d1\u751f&#xff0c;\u72b6\u6001\u673a\u5c06\u8bc4\u4f30\u662f\u5426\u6ee1\u8db3\u8f6c\u6362\u6761\u4ef6\u3002 <\/li>\n<li> \u6267\u884c\u52a8\u4f5c&#xff1a;\u5982\u679c\u6761\u4ef6\u6ee1\u8db3&#xff0c;\u72b6\u6001\u673a\u5c06\u6267\u884c\u4ece\u4e00\u4e2a\u72b6\u6001\u5230\u53e6\u4e00\u4e2a\u72b6\u6001\u7684\u8f6c\u6362&#xff0c;\u5e76\u53ef\u80fd\u6267\u884c\u76f8\u5173\u7684\u52a8\u4f5c\u6216\u64cd\u4f5c\u3002 <\/li>\n<li> \u66f4\u65b0\u72b6\u6001&#xff1a;\u72b6\u6001\u8f6c\u6362\u540e&#xff0c;\u72b6\u6001\u673a\u7684\u5f53\u524d\u72b6\u6001\u66f4\u65b0\u4e3a\u65b0\u7684\u72b6\u6001\u3002 <\/li>\n<h4> 2.2.2 \u4e8b\u4ef6\u9a71\u52a8\u548c\u6d88\u606f\u4f20\u9012\u673a\u5236 <\/h4>\n<p> ISM\u6a21\u578b\u901a\u5e38\u4f9d\u8d56\u4e8e\u4e8b\u4ef6\u9a71\u52a8\u7684\u65b9\u5f0f\u6765\u54cd\u5e94\u5916\u90e8\u6216\u5185\u90e8\u7684\u523a\u6fc0\u3002\u4e8b\u4ef6\u53ef\u4ee5\u643a\u5e26\u6570\u636e\u4fe1\u606f&#xff0c;\u7528\u4e8e\u63d0\u4f9b\u8db3\u591f\u7684\u4e0a\u4e0b\u6587\u6765\u51b3\u5b9a\u72b6\u6001\u8f6c\u6362\u3002 <\/p>\n<p> \u4e8b\u4ef6\u9a71\u52a8\u7cfb\u7edf\u901a\u8fc7\u6d88\u606f\u4f20\u9012\u673a\u5236\u8fdb\u884c\u4ea4\u4e92\u3002\u5f53\u4e00\u4e2a\u4e8b\u4ef6\u53d1\u751f\u65f6&#xff0c;\u4f1a\u751f\u6210\u4e00\u4e2a\u6d88\u606f&#xff0c;\u5e76\u6839\u636e\u72b6\u6001\u673a\u7684\u5b9a\u4e49\u53d1\u9001\u7ed9\u4e00\u4e2a\u6216\u591a\u4e2a\u63a5\u6536\u8005\u3002\u63a5\u6536\u8005\u6839\u636e\u6536\u5230\u7684\u6d88\u606f\u5185\u5bb9\u6267\u884c\u76f8\u5e94\u7684\u52a8\u4f5c\u3002 <\/p>\n<p>\/\/ \u6d88\u606f\u4f20\u9012\u548c\u4e8b\u4ef6\u9a71\u52a8\u4f2a\u4ee3\u7801\u793a\u4f8b<br \/>\nstruct Message {<br \/>\n    enum EventType { SEE\u8fdb\u7403, SEE\u654c\u65b9, SCORE };<br \/>\n    EventType eventType;<br \/>\n    \/\/ \u5176\u4ed6\u76f8\u5173\u4fe1\u606f<br \/>\n};<\/p>\n<p>void onEvent(Message event) {<br \/>\n    switch (event.eventType) {<br \/>\n        case SEE\u8fdb\u7403:<br \/>\n            \/\/ \u6267\u884c\u8fdb\u7403\u76f8\u5173\u7684\u52a8\u4f5c<br \/>\n            break;<br \/>\n        case SEE\u654c\u65b9:<br \/>\n            \/\/ \u6267\u884c\u9632\u5b88\u76f8\u5173\u7684\u52a8\u4f5c<br \/>\n            break;<br \/>\n        case SCORE:<br \/>\n            \/\/ \u66f4\u65b0\u5f97\u5206\u72b6\u6001<br \/>\n            break;<br \/>\n    }<br \/>\n}<\/p>\n<p> \u5728\u8fd9\u4e2a\u793a\u4f8b\u4e2d&#xff0c;  Message  \u7ed3\u6784\u4f53\u4ee3\u8868\u4e86\u4e00\u4e2a\u4e8b\u4ef6&#xff0c;\u5305\u542b\u4e86\u4e8b\u4ef6\u7c7b\u578b\u548c\u76f8\u5173\u6570\u636e\u3002  onEvent  \u51fd\u6570\u5904\u7406\u4e8b\u4ef6\u5e76\u6839\u636e\u4e8b\u4ef6\u7c7b\u578b\u6267\u884c\u4e0d\u540c\u7684\u52a8\u4f5c\u3002 <\/p>\n<h3> 2.3 \u72b6\u6001\u673a\u7684\u4f18\u5316\u548c\u8c03\u8bd5 <\/h3>\n<h4> 2.3.1 \u72b6\u6001\u673a\u7684\u6027\u80fd\u4f18\u5316\u7b56\u7565 <\/h4>\n<p> \u72b6\u6001\u673a\u7684\u6027\u80fd\u4f18\u5316\u7b56\u7565\u901a\u5e38\u5305\u62ec\u51cf\u5c11\u4e0d\u5fc5\u8981\u7684\u72b6\u6001\u8f6c\u6362\u3001\u7b80\u5316\u4e8b\u4ef6\u5904\u7406\u903b\u8f91\u548c\u63d0\u5347\u72b6\u6001\u673a\u7684\u54cd\u5e94\u6548\u7387\u3002 <\/p>\n<p> \u51cf\u5c11\u4e0d\u5fc5\u8981\u7684\u72b6\u6001\u8f6c\u6362\u53ef\u4ee5\u901a\u8fc7\u5408\u5e76\u72b6\u6001\u548c\u79fb\u9664\u5197\u4f59\u7684\u8f6c\u6362\u903b\u8f91\u6765\u5b9e\u73b0\u3002\u7b80\u5316\u4e8b\u4ef6\u5904\u7406\u903b\u8f91\u53ef\u4ee5\u901a\u8fc7\u4f7f\u7528\u66f4\u9ad8\u6548\u7684\u6570\u636e\u7ed3\u6784\u548c\u7b97\u6cd5\u6765\u5b8c\u6210\u3002\u63d0\u5347\u54cd\u5e94\u6548\u7387\u53ef\u4ee5\u901a\u8fc7\u4f18\u5316\u6d88\u606f\u4f20\u9012\u673a\u5236\u548c\u51cf\u5c11\u9501\u7684\u4f7f\u7528\u6765\u8fbe\u5230\u3002 <\/p>\n<p>\/\/ \u4f18\u5316\u72b6\u6001\u8f6c\u6362\u7684\u4f2a\u4ee3\u7801\u793a\u4f8b<br \/>\nvoid optimizeStateTransition() {<br \/>\n    \/\/ \u5408\u5e76\u53ef\u5408\u5e76\u7684\u72b6\u6001<br \/>\n    \/\/ \u79fb\u9664\u5197\u4f59\u7684\u8f6c\u6362\u903b\u8f91<br \/>\n    \/\/ \u4f7f\u7528\u66f4\u9ad8\u6548\u7684\u6570\u636e\u7ed3\u6784\u548c\u7b97\u6cd5\u5904\u7406\u4e8b\u4ef6<br \/>\n}<\/p>\n<p> \u5728\u4e0a\u8ff0\u4f2a\u4ee3\u7801\u4e2d&#xff0c;  optimizeStateTransition  \u51fd\u6570\u5c55\u793a\u4e86\u5982\u4f55\u5bf9\u72b6\u6001\u8f6c\u6362\u8fdb\u884c\u4f18\u5316\u3002 <\/p>\n<h4> 2.3.2 \u72b6\u6001\u673a\u7684\u8c03\u8bd5\u6280\u5de7\u548c\u5de5\u5177 <\/h4>\n<p> \u72b6\u6001\u673a\u7684\u8c03\u8bd5\u53ef\u4ee5\u4f7f\u7528\u4f20\u7edf\u8c03\u8bd5\u65b9\u6cd5\u548c\u4e00\u4e9b\u7279\u5b9a\u7684\u5de5\u5177\u3002\u4f20\u7edf\u7684\u8c03\u8bd5\u65b9\u6cd5\u5305\u62ec\u8bbe\u7f6e\u65ad\u70b9\u3001\u5355\u6b65\u6267\u884c\u548c\u67e5\u770b\u53d8\u91cf\u503c\u3002\u6b64\u5916&#xff0c;\u8fd8\u53ef\u4ee5\u4f7f\u7528\u65e5\u5fd7\u8bb0\u5f55\u3001\u72b6\u6001\u53ef\u89c6\u5316\u5de5\u5177\u548c\u4ee3\u7801\u8986\u76d6\u7387\u5206\u6790\u5de5\u5177\u3002 <\/p>\n<p> \u72b6\u6001\u53ef\u89c6\u5316\u5de5\u5177\u53ef\u4ee5\u63d0\u4f9b\u76f4\u89c2\u7684\u65b9\u5f0f\u6765\u89c2\u5bdf\u72b6\u6001\u8f6c\u6362\u548c\u4e8b\u4ef6\u6d41\u52a8&#xff0c;\u8fd9\u5bf9\u4e8e\u7406\u89e3\u590d\u6742\u7684\u72b6\u6001\u673a\u5c24\u5176\u6709\u7528\u3002\u4ee3\u7801\u8986\u76d6\u7387\u5206\u6790\u5de5\u5177\u53ef\u4ee5\u6307\u51fa\u54ea\u4e9b\u72b6\u6001\u548c\u8f6c\u6362\u903b\u8f91\u88ab\u6267\u884c\u5230\u4e86&#xff0c;\u54ea\u4e9b\u672a\u88ab\u6267\u884c\u5230&#xff0c;\u5e2e\u52a9\u5f00\u53d1\u8005\u786e\u4fdd\u6d4b\u8bd5\u7684\u5145\u5206\u6027\u3002 <\/p>\n<p>graph TD<br \/>\nA[\u5f00\u59cb\u8c03\u8bd5] &#8211;&gt; B[\u8bbe\u7f6e\u65ad\u70b9\u548c\u65e5\u5fd7]<br \/>\nB &#8211;&gt; C[\u6267\u884c\u72b6\u6001\u673a]<br \/>\nC &#8211;&gt; D[\u4f7f\u7528\u72b6\u6001\u53ef\u89c6\u5316\u5de5\u5177]<br \/>\nD &#8211;&gt; E[\u5206\u6790\u4ee3\u7801\u8986\u76d6\u7387]<br \/>\nE &#8211;&gt; F[\u4f18\u5316\u548c\u91cd\u6784]<\/p>\n<p> \u5728\u4e0a\u8ff0mermaid\u683c\u5f0f\u7684\u6d41\u7a0b\u56fe\u4e2d&#xff0c;\u5c55\u793a\u4e86\u72b6\u6001\u673a\u8c03\u8bd5\u7684\u6b65\u9aa4\u3002 <\/p>\n<p> \u901a\u8fc7\u8fd9\u4e9b\u7b56\u7565\u548c\u5de5\u5177&#xff0c;\u5f00\u53d1\u8005\u53ef\u4ee5\u6709\u6548\u5730\u5bf9\u72b6\u6001\u673a\u8fdb\u884c\u4f18\u5316\u548c\u8c03\u8bd5&#xff0c;\u786e\u4fdd\u7cfb\u7edf\u8fd0\u884c\u7684\u6548\u7387\u548c\u7a33\u5b9a\u6027\u3002\u5728RoboCup 2D\u73af\u5883\u4e2d&#xff0c;\u72b6\u6001\u673a\u7684\u4f18\u5316\u548c\u8c03\u8bd5\u5bf9\u4e8e\u63d0\u9ad8\u673a\u5668\u4eba\u7684\u53cd\u5e94\u901f\u5ea6\u548c\u6bd4\u8d5b\u7b56\u7565\u7684\u7075\u6d3b\u6027\u81f3\u5173\u91cd\u8981\u3002 <\/p>\n<h2> 3. 2D\u4eff\u771f\u5e73\u53f0\u642d\u5efa\u6b65\u9aa4 <\/h2>\n<h3> 3.1 \u73af\u5883\u51c6\u5907\u4e0e\u786c\u4ef6\u8981\u6c42 <\/h3>\n<p> \u5728\u6df1\u5165\u63a2\u8ba8\u5982\u4f55\u642d\u5efa2D\u4eff\u771f\u5e73\u53f0\u4e4b\u524d&#xff0c;\u9996\u5148\u9700\u8981\u505a\u597d\u73af\u5883\u548c\u786c\u4ef6\u65b9\u9762\u7684\u51c6\u5907\u3002\u8fd9\u4e9b\u51c6\u5907\u5de5\u4f5c\u662f\u540e\u7eed\u64cd\u4f5c\u987a\u5229\u8fdb\u884c\u7684\u57fa\u7840&#xff0c;\u786e\u4fdd\u4eff\u771f\u73af\u5883\u80fd\u591f\u7a33\u5b9a\u8fd0\u884c&#xff0c;\u4e3a\u540e\u7eed\u7684\u6d4b\u8bd5\u548c\u5f00\u53d1\u63d0\u4f9b\u53ef\u9760\u7684\u652f\u6301\u3002 <\/p>\n<h4> 3.1.1 \u9009\u62e9\u5408\u9002\u7684\u8ba1\u7b97\u673a\u786c\u4ef6\u914d\u7f6e <\/h4>\n<p> \u5728\u9009\u62e9\u8ba1\u7b97\u673a\u786c\u4ef6\u914d\u7f6e\u65f6&#xff0c;\u9700\u8981\u8003\u8651\u4ee5\u4e0b\u51e0\u4e2a\u5173\u952e\u56e0\u7d20&#xff1a; <\/p>\n<ul>\n<li>  CPU\u6027\u80fd  &#xff1a;\u9009\u62e9\u591a\u6838CPU\u80fd\u591f\u63d0\u4f9b\u8db3\u591f\u7684\u5e76\u884c\u5904\u7406\u80fd\u529b&#xff0c;\u4ee5\u4fbf\u9ad8\u6548\u5730\u6267\u884c\u4eff\u771f\u8ba1\u7b97\u3002 <\/li>\n<li>  \u5185\u5b58\u5bb9\u91cf  &#xff1a;\u8db3\u591f\u7684RAM&#xff08;\u5efa\u8bae\u81f3\u5c118GB&#xff09;\u53ef\u4ee5\u4fdd\u8bc1\u5728\u591a\u7ebf\u7a0b\u8fd0\u884c\u65f6&#xff0c;\u7cfb\u7edf\u4e0d\u4f1a\u56e0\u4e3a\u5185\u5b58\u4e0d\u8db3\u800c\u9891\u7e41\u8fdb\u884c\u786c\u76d8\u4ea4\u6362\u3002 <\/li>\n<li>  \u786c\u76d8\u5b58\u50a8  &#xff1a;\u8003\u8651\u5230\u4eff\u771f\u8fc7\u7a0b\u4e2d\u4f1a\u4ea7\u751f\u5927\u91cf\u6570\u636e&#xff0c;\u5efa\u8bae\u4f7f\u7528SSD\u786c\u76d8\u4ee5\u63d0\u9ad8\u6570\u636e\u8bfb\u5199\u901f\u5ea6\u3002 <\/li>\n<\/ul>\n<h4> 3.1.2 \u5b89\u88c5\u5fc5\u5907\u7684\u5916\u56f4\u8bbe\u5907\u548c\u4f20\u611f\u5668 <\/h4>\n<p> \u5916\u56f4\u8bbe\u5907\u548c\u4f20\u611f\u5668\u7684\u5b89\u88c5\u4e5f\u662f\u642d\u5efa2D\u4eff\u771f\u5e73\u53f0\u7684\u91cd\u8981\u4e00\u73af\u3002\u4ee5\u4e0b\u662f\u4e00\u4e9b\u5fc5\u5907\u8bbe\u5907&#xff1a; <\/p>\n<ul>\n<li>  \u7f51\u7edc\u9002\u914d\u5668  &#xff1a;\u786e\u4fdd\u8ba1\u7b97\u673a\u5177\u5907\u7a33\u5b9a\u4e14\u9ad8\u901f\u7684\u7f51\u7edc\u8fde\u63a5\u80fd\u529b&#xff0c;\u4ee5\u4fbf\u5728\u4eff\u771f\u4e2d\u4e0e\u5176\u4ed6\u8bbe\u5907\u6216\u670d\u52a1\u5668\u901a\u8baf\u3002 <\/li>\n<li>  \u6444\u50cf\u5934  &#xff1a;\u867d\u7136\u57282D\u4eff\u771f\u4e2d\u4f7f\u7528\u4e0d\u591a&#xff0c;\u4f46\u67d0\u4e9b\u60c5\u51b5\u4e0b\u53ef\u80fd\u9700\u8981\u6444\u50cf\u5934\u8fdb\u884c\u89c6\u89c9\u6570\u636e\u7684\u91c7\u96c6\u3002 <\/li>\n<\/ul>\n<h3> 3.2 Linux\u64cd\u4f5c\u7cfb\u7edf\u8981\u6c42 <\/h3>\n<p> 2D\u4eff\u771f\u5e73\u53f0\u901a\u5e38\u5728Linux\u64cd\u4f5c\u7cfb\u7edf\u4e0a\u8fd0\u884c&#xff0c;\u56e0\u6b64\u9009\u62e9\u5408\u9002\u7684Linux\u53d1\u884c\u7248\u5e76\u5b89\u88c5\u5fc5\u8981\u7684\u5de5\u5177\u548c\u4f9d\u8d56\u5e93\u662f\u975e\u5e38\u5173\u952e\u7684\u4e00\u6b65\u3002 <\/p>\n<h4> 3.2.1 Linux\u53d1\u884c\u7248\u7684\u9009\u62e9\u548c\u5b89\u88c5 <\/h4>\n<p> \u5bf9\u4e8eRoboCup 2D\u4eff\u771f\u73af\u5883&#xff0c;\u63a8\u8350\u4f7f\u7528\u8f83\u65b0\u7684\u7a33\u5b9a\u7248Linux\u53d1\u884c\u7248&#xff0c;\u4f8b\u5982Ubuntu\u6216Fedora\u3002\u8fd9\u4e9b\u53d1\u884c\u7248\u62e5\u6709\u4e30\u5bcc\u7684\u8f6f\u4ef6\u5e93\u548c\u826f\u597d\u7684\u793e\u533a\u652f\u6301\u3002 <\/p>\n<p># \u4ee5Ubuntu\u4e3a\u4f8b&#xff0c;\u5b89\u88c5\u6b65\u9aa4\u53ef\u80fd\u5982\u4e0b&#xff1a;<br \/>\nsudo apt update<br \/>\nsudo apt upgrade -y<br \/>\nsudo apt install ubuntu-desktop -y<\/p>\n<h4> 3.2.2 \u5fc5\u8981\u7684\u7cfb\u7edf\u5de5\u5177\u548c\u4f9d\u8d56\u5e93\u5b89\u88c5 <\/h4>\n<p> \u5b89\u88c5\u5b8cLinux\u64cd\u4f5c\u7cfb\u7edf\u540e&#xff0c;\u9700\u8981\u5b89\u88c5\u4e00\u7cfb\u5217\u7684\u8f6f\u4ef6\u5de5\u5177\u548c\u4f9d\u8d56\u5e93&#xff0c;\u4ee5\u4fbf\u6784\u5efa\u548c\u8fd0\u884c2D\u4eff\u771f\u73af\u5883&#xff1a; <\/p>\n<p># \u793a\u4f8b&#xff1a;\u5b89\u88c5\u7f16\u8bd1\u5de5\u5177\u3001\u56fe\u5f62\u5e93\u548c\u4f9d\u8d56\u5305<br \/>\nsudo apt install build-essential -y<br \/>\nsudo apt install libx11-dev -y<br \/>\nsudo apt install cmake -y<\/p>\n<h3> 3.3 \u642d\u5efa\u6b65\u9aa4\u8be6\u89e3 <\/h3>\n<p> \u642d\u5efa2D\u4eff\u771f\u5e73\u53f0\u9700\u8981\u9075\u5faa\u4e00\u7cfb\u5217\u8be6\u7ec6\u7684\u6b65\u9aa4&#xff0c;\u4ee5\u786e\u4fdd\u6bcf\u4e2a\u73af\u8282\u90fd\u6b63\u786e\u65e0\u8bef\u3002 <\/p>\n<h4> 3.3.1 \u6309\u987a\u5e8f\u6267\u884c\u642d\u5efa\u4efb\u52a1 <\/h4>\n<p> \u642d\u5efa\u8fc7\u7a0b\u9700\u8981\u6309\u7167\u6307\u5b9a\u7684\u6b65\u9aa4\u987a\u5e8f\u8fdb\u884c&#xff1a; <\/p>\n<li>  \u5b89\u88c5Linux\u64cd\u4f5c\u7cfb\u7edf  &#xff1a;\u6839\u636e3.2\u8282\u7684\u4ecb\u7ecd&#xff0c;\u5b8c\u6210\u7cfb\u7edf\u5b89\u88c5\u548c\u57fa\u672c\u914d\u7f6e\u3002 <\/li>\n<li>  \u5b89\u88c5\u5f00\u53d1\u73af\u5883  &#xff1a;\u5b89\u88c5\u7f16\u8bd1\u5668\u3001\u5e93\u6587\u4ef6\u548c\u5176\u4ed6\u5f00\u53d1\u5de5\u5177\u3002 <\/li>\n<li>  \u5b89\u88c5\u4eff\u771f\u8f6f\u4ef6  &#xff1a;\u6839\u636e\u5b98\u65b9\u6307\u5357\u4e0b\u8f7d\u5e76\u5b89\u88c5RoboCup 2D\u670d\u52a1\u5668\u53ca\u5176\u76f8\u5173\u8f6f\u4ef6\u5305\u3002 <\/li>\n<h4> 3.3.2 \u68c0\u67e5\u5e76\u786e\u4fdd\u6240\u6709\u7ec4\u4ef6\u6b63\u5e38\u5de5\u4f5c <\/h4>\n<p> \u5728\u5b8c\u6210\u642d\u5efa\u540e&#xff0c;\u9700\u8981\u9a8c\u8bc1\u6bcf\u4e2a\u7ec4\u4ef6\u662f\u5426\u80fd\u591f\u6b63\u5e38\u5de5\u4f5c\u3002\u8fd9\u901a\u5e38\u5305\u62ec\u68c0\u67e5&#xff1a; <\/p>\n<ul>\n<li>  \u64cd\u4f5c\u7cfb\u7edf\u548c\u8f6f\u4ef6\u5305\u662f\u5426\u6700\u65b0  &#xff1a;\u6267\u884c\u66f4\u65b0\u547d\u4ee4\u5e76\u68c0\u67e5\u8f6f\u4ef6\u5305\u662f\u5426\u6700\u65b0\u3002 <\/li>\n<li>  \u4f9d\u8d56\u5e93\u662f\u5426\u5b89\u88c5\u6b63\u786e  &#xff1a;\u5229\u7528\u76f8\u5173\u547d\u4ee4\u68c0\u67e5\u6240\u6709\u5fc5\u9700\u7684\u4f9d\u8d56\u5e93\u662f\u5426\u5df2\u7ecf\u6b63\u786e\u5b89\u88c5\u3002 <\/li>\n<li>  \u4eff\u771f\u73af\u5883\u662f\u5426\u7a33\u5b9a  &#xff1a;\u8fd0\u884c\u57fa\u672c\u7684\u4eff\u771f\u4efb\u52a1&#xff0c;\u786e\u4fdd\u4eff\u771f\u73af\u5883\u80fd\u591f\u6b63\u5e38\u542f\u52a8\u548c\u8fd0\u884c\u3002 <\/li>\n<\/ul>\n<p># \u793a\u4f8b&#xff1a;\u68c0\u67e5\u5df2\u5b89\u88c5\u7684\u5e93\u6587\u4ef6<br \/>\ndpkg -l | grep libx11<\/p>\n<p> \u901a\u8fc7\u4ee5\u4e0a\u642d\u5efa\u6b65\u9aa4&#xff0c;\u4e00\u4e2a\u57fa\u7840\u76842D\u4eff\u771f\u5e73\u53f0\u5c31\u521d\u6b65\u642d\u5efa\u5b8c\u6210\u4e86\u3002\u5728\u540e\u7eed\u7684\u7ae0\u8282\u4e2d&#xff0c;\u6211\u4eec\u5c06\u7ee7\u7eed\u63a2\u8ba8\u5982\u4f55\u83b7\u53d6\u548c\u7f16\u8bd1RoboCup 2D\u670d\u52a1\u5668\u6e90\u7801&#xff0c;\u5e76\u6700\u7ec8\u8fdb\u5165\u4eff\u771f\u8fd0\u884c\u4e0e\u7b56\u7565\u6d4b\u8bd5\u4f18\u5316\u7684\u9636\u6bb5\u3002 <\/p>\n<h2> 4. \u83b7\u53d6\u548c\u7f16\u8bd1RoboCup 2D\u670d\u52a1\u5668\u6e90\u7801 <\/h2>\n<h3> 4.1 \u83b7\u53d6RoboCup 2D\u670d\u52a1\u5668\u6e90\u7801 <\/h3>\n<h4> 4.1.1 \u8bbf\u95ee\u5b98\u65b9\u6e90\u7801\u4ed3\u5e93 <\/h4>\n<p> \u8bbf\u95eeRoboCup\u5b98\u65b9\u7f51\u7ad9\u6216\u5176GitHub\u9875\u9762\u662f\u83b7\u53d6\u6e90\u7801\u7684\u7b2c\u4e00\u6b65\u3002\u786e\u4fdd\u4f60\u5904\u4e8e\u4e00\u4e2a\u7a33\u5b9a\u4e14\u5feb\u901f\u7684\u7f51\u7edc\u73af\u5883\u4e2d&#xff0c;\u8fd9\u6837\u53ef\u4ee5\u52a0\u5feb\u4e0b\u8f7d\u901f\u5ea6\u5e76\u51cf\u5c11\u4e2d\u65ad\u7684\u53ef\u80fd\u6027\u3002\u5b98\u65b9\u6e90\u7801\u4ed3\u5e93\u901a\u5e38\u6258\u7ba1\u5728\u5982GitHub\u8fd9\u6837\u7684\u5e73\u53f0\u4e0a&#xff0c;\u56e0\u6b64\u4f60\u7684\u7cfb\u7edf\u4e2d\u5fc5\u987b\u5b89\u88c5\u6709Git\u5ba2\u6237\u7aef\u3002\u5982\u679c\u4f60\u4f7f\u7528\u7684\u662fLinux\u7cfb\u7edf&#xff0c;\u53ef\u4ee5\u4f7f\u7528\u5185\u7f6e\u7684\u5305\u7ba1\u7406\u5668\u5b89\u88c5Git&#xff0c;\u4f8b\u5982\u5728Ubuntu\u4e0a&#xff0c;\u4f60\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u5b89\u88c5Git&#xff1a; <\/p>\n<p>sudo apt update<br \/>\nsudo apt install git<\/p>\n<p> \u5bf9\u4e8eWindows\u7528\u6237&#xff0c;GitHub\u5b98\u65b9\u63d0\u4f9b\u4e86Git Bash\u5de5\u5177&#xff0c;\u53ef\u4ee5\u7528\u6765\u5728Windows\u73af\u5883\u4e0b\u6267\u884cGit\u547d\u4ee4\u3002 <\/p>\n<p> \u4e00\u65e6\u5b89\u88c5\u4e86Git&#xff0c;\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u514b\u9686\u4ed3\u5e93&#xff1a; <\/p>\n<p>git clone [repository-url]<\/p>\n<p> \u5c06  [repository-url]  \u66ff\u6362\u4e3a\u5b9e\u9645\u7684RoboCup 2D\u670d\u52a1\u5668\u6e90\u7801\u4ed3\u5e93URL\u3002 <\/p>\n<h4> 4.1.2 \u4e0b\u8f7d\u6e90\u7801\u5230\u672c\u5730\u8ba1\u7b97\u673a <\/h4>\n<p> \u4f7f\u7528Git\u514b\u9686\u547d\u4ee4\u540e&#xff0c;\u6e90\u7801\u4f1a\u4e0b\u8f7d\u5230\u4f60\u6307\u5b9a\u7684\u672c\u5730\u76ee\u5f55\u3002\u901a\u5e38\u60c5\u51b5\u4e0b&#xff0c;\u4f60\u53ef\u4ee5\u63a5\u53d7\u9ed8\u8ba4\u7684\u4e0b\u8f7d\u76ee\u5f55&#xff0c;\u6216\u8005\u4f7f\u7528  -b  \u53c2\u6570\u6307\u5b9a\u5206\u652f&#xff08;\u4f8b\u5982\u7a33\u5b9a\u7248\u6216\u5f00\u53d1\u7248&#xff09;&#xff0c;\u5e76\u4f7f\u7528  -o  \u53c2\u6570\u6307\u5b9a\u672c\u5730\u4ed3\u5e93\u7684\u76ee\u5f55\u540d\u79f0\u3002\u4ee5\u4e0b\u662f\u4e00\u4e2a\u793a\u4f8b&#xff1a; <\/p>\n<p>git clone -b master -o robocup2d [repository-url] robocup2d-server<\/p>\n<p> \u8fd9\u91cc&#xff0c;  -b master  \u6307\u5b9a\u4e86\u8981\u514b\u9686\u7684\u5206\u652f&#xff0c;  -o robocup2d  \u5c06\u672c\u5730\u4ed3\u5e93\u76ee\u5f55\u547d\u540d\u4e3a  robocup2d  &#xff0c;\u800c\u6700\u540e\u4e00\u4e2a\u53c2\u6570\u6307\u5b9a\u4e86\u8981\u4e0b\u8f7d\u7684\u9879\u76ee\u76ee\u5f55\u540d\u79f0  robocup2d-server  \u3002 <\/p>\n<h3> 4.2 \u7f16\u8bd1\u6e90\u7801\u524d\u7684\u51c6\u5907\u5de5\u4f5c <\/h3>\n<h4> 4.2.1 \u73af\u5883\u53d8\u91cf\u548c\u4f9d\u8d56\u5305\u7684\u914d\u7f6e <\/h4>\n<p> RoboCup 2D\u670d\u52a1\u5668\u53ef\u80fd\u4f9d\u8d56\u4e8e\u7279\u5b9a\u7684\u5e93\u548c\u5de5\u5177\u6765\u7f16\u8bd1\u548c\u8fd0\u884c\u3002\u5728\u7f16\u8bd1\u4e4b\u524d&#xff0c;\u4f60\u9700\u8981\u914d\u7f6e\u597d\u73af\u5883\u53d8\u91cf&#xff0c;\u786e\u4fdd\u7f16\u8bd1\u5668\u548c\u6784\u5efa\u5de5\u5177\u80fd\u627e\u5230\u6240\u6709\u5fc5\u8981\u7684\u4f9d\u8d56\u3002\u5728Linux\u7cfb\u7edf\u4e2d&#xff0c;\u901a\u5e38\u9700\u8981\u914d\u7f6e\u7684\u73af\u5883\u53d8\u91cf\u5305\u62ec  PATH  \u548c  LD_LIBRARY_PATH  \u3002 <\/p>\n<p> \u4f8b\u5982&#xff0c;\u5982\u679c\u7f16\u8bd1\u8fc7\u7a0b\u4e2d\u9700\u8981  gcc  \u7f16\u8bd1\u5668\u548c  make  \u6784\u5efa\u5de5\u5177&#xff0c;\u4f60\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u5b89\u88c5\u5b83\u4eec&#xff1a; <\/p>\n<p>sudo apt install build-essential<\/p>\n<p> \u5bf9\u4e8e\u5176\u4ed6\u4f9d\u8d56\u7684\u5e93&#xff0c;\u4f60\u53ef\u80fd\u9700\u8981\u4f7f\u7528\u5305\u7ba1\u7406\u5668\u6765\u5b89\u88c5&#xff0c;\u4f8b\u5982  libssl-dev  \u6216  libcurl4-openssl-dev  &#xff0c;\u5177\u4f53\u53d6\u51b3\u4e8e\u670d\u52a1\u5668\u6e90\u7801\u7684\u4f9d\u8d56\u9700\u6c42\u3002 <\/p>\n<h4> 4.2.2 \u9009\u62e9\u5408\u9002\u7684\u7f16\u8bd1\u5668\u548c\u6784\u5efa\u5de5\u5177 <\/h4>\n<p> RoboCup 2D\u670d\u52a1\u5668\u53ef\u80fd\u652f\u6301\u591a\u79cd\u7f16\u8bd1\u5668&#xff0c;\u4f46\u901a\u5e38\u4f7f\u7528\u7684\u662fGCC\u6216\u8005Clang\u3002\u5bf9\u4e8e\u6784\u5efa\u5de5\u5177&#xff0c;  make  \u662f\u6700\u5e38\u7528\u7684\u9009\u62e9&#xff0c;\u4f46\u6709\u65f6\u4e5f\u53ef\u80fd\u4f7f\u7528  cmake  \u6216\u5176\u4ed6\u6784\u5efa\u7cfb\u7edf\u3002\u4f7f\u7528\u547d\u4ee4\u884c\u5de5\u5177\u67e5\u770b\u53ef\u7528\u7684\u7f16\u8bd1\u5668\u7248\u672c&#xff1a; <\/p>\n<p>gcc &#8211;version<br \/>\nclang &#8211;version<\/p>\n<p> \u786e\u8ba4\u4f60\u7684\u7cfb\u7edf\u4e2d\u5df2\u5b89\u88c5\u4e86\u9002\u5f53\u7684\u7f16\u8bd1\u5668\u7248\u672c\u3002\u5b89\u88c5\u6216\u914d\u7f6e\u6784\u5efa\u5de5\u5177\u7684\u8fc7\u7a0b\u4f1a\u6839\u636e\u4f60\u9009\u62e9\u7684\u5de5\u5177\u800c\u53d8\u5316\u3002\u4f8b\u5982&#xff0c;\u4f7f\u7528  apt  \u5b89\u88c5  make  &#xff1a; <\/p>\n<p>sudo apt install make<\/p>\n<h3> 4.3 \u6e90\u7801\u7f16\u8bd1\u4e0e\u6784\u5efa\u8fc7\u7a0b <\/h3>\n<h4> 4.3.1 \u7f16\u8bd1\u8fc7\u7a0b\u4e2d\u7684\u5e38\u89c1\u95ee\u9898\u53ca\u89e3\u51b3 <\/h4>\n<p> \u7f16\u8bd1\u8fc7\u7a0b\u4e2d\u53ef\u80fd\u4f1a\u9047\u5230\u5404\u79cd\u95ee\u9898&#xff0c;\u4f8b\u5982\u7f3a\u5c11\u5e93\u3001\u7248\u672c\u4e0d\u517c\u5bb9\u6216\u8005\u6784\u5efa\u811a\u672c\u9519\u8bef\u3002\u4e00\u65e6\u51fa\u73b0\u9519\u8bef&#xff0c;\u7f16\u8bd1\u8fc7\u7a0b\u5c06\u505c\u6b62&#xff0c;\u4f60\u9700\u8981\u9605\u8bfb\u9519\u8bef\u4fe1\u606f\u6765\u786e\u5b9a\u95ee\u9898\u6240\u5728\u3002 <\/p>\n<p> \u4f8b\u5982&#xff0c;\u5982\u679c\u7f3a\u5c11\u67d0\u4e2a\u4f9d\u8d56\u5e93&#xff0c;\u4f60\u5c06\u770b\u5230\u7c7b\u4f3c\u4e8e\u4ee5\u4e0b\u7684\u9519\u8bef\u4fe1\u606f&#xff1a; <\/p>\n<p>error: \u2018SSL_library_init\u2019 was not declared in this scope<\/p>\n<p> \u8fd9\u65f6&#xff0c;\u4f60\u9700\u8981\u5b89\u88c5\u76f8\u5e94\u7684\u5f00\u53d1\u5305&#xff08;\u901a\u5e38\u662f  -dev  \u7248\u672c\u7684\u5e93&#xff09;&#xff0c;\u4f8b\u5982&#xff1a; <\/p>\n<p>sudo apt install libssl-dev<\/p>\n<p> \u4fee\u590d\u6240\u6709\u95ee\u9898\u540e&#xff0c;\u53ef\u4ee5\u91cd\u65b0\u5c1d\u8bd5\u7f16\u8bd1\u3002\u6709\u65f6\u9700\u8981\u6e05\u7406\u4e4b\u524d\u7684\u7f16\u8bd1\u7ed3\u679c&#xff0c;\u53ef\u4ee5\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4&#xff1a; <\/p>\n<p>make clean<\/p>\n<p> \u7136\u540e\u518d\u5c1d\u8bd5\u7f16\u8bd1&#xff1a; <\/p>\n<p>make<\/p>\n<h4> 4.3.2 \u6784\u5efa\u670d\u52a1\u5668\u8fd0\u884c\u73af\u5883 <\/h4>\n<p> \u7f16\u8bd1\u6210\u529f\u4e4b\u540e&#xff0c;\u4f60\u9700\u8981\u6784\u5efa\u670d\u52a1\u5668\u8fd0\u884c\u73af\u5883\u3002\u8fd9\u53ef\u80fd\u5305\u62ec\u521d\u59cb\u5316\u6570\u636e\u5e93\u3001\u8bbe\u7f6e\u914d\u7f6e\u6587\u4ef6\u6216\u8005\u8c03\u6574\u7f51\u7edc\u8bbe\u7f6e\u3002\u786e\u4fdd\u6309\u7167\u6587\u6863\u8bf4\u660e\u8fdb\u884c\u64cd\u4f5c&#xff0c;\u6587\u6863\u901a\u5e38\u4f4d\u4e8e\u670d\u52a1\u5668\u6e90\u7801\u76ee\u5f55\u4e2d\u7684  doc  \u6587\u4ef6\u5939\u3002 <\/p>\n<p> \u4f60\u53ef\u80fd\u9700\u8981\u4fee\u6539\u914d\u7f6e\u6587\u4ef6\u6765\u8bbe\u7f6e\u670d\u52a1\u5668\u8fd0\u884c\u53c2\u6570&#xff0c;\u5982\u76d1\u542c\u7684\u7aef\u53e3\u3001\u65e5\u5fd7\u7ea7\u522b\u7b49\u3002\u4ee5\u4e0b\u662f\u4e00\u4e2a\u4fee\u6539\u914d\u7f6e\u6587\u4ef6\u7684\u793a\u4f8b\u547d\u4ee4&#xff1a; <\/p>\n<p>sed -i &#034;s\/PORT&#061;8080\/PORT&#061;9000\/g&#034; config.txt<\/p>\n<p> \u8fd9\u91cc\u4f7f\u7528  sed  \u547d\u4ee4\u5c06\u914d\u7f6e\u6587\u4ef6  config.txt  \u4e2d\u7684\u9ed8\u8ba4\u7aef\u53e3\u4ece  8080  \u6539\u4e3a  9000  \u3002 <\/p>\n<p> \u786e\u4fdd\u6240\u6709\u7684\u914d\u7f6e\u90fd\u662f\u6b63\u786e\u7684\u4e4b\u540e&#xff0c;\u5c31\u53ef\u4ee5\u542f\u52a8\u670d\u52a1\u5668\u8fd0\u884c\u73af\u5883\u4e86&#xff0c;\u53ef\u80fd\u4f1a\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4&#xff1a; <\/p>\n<p>.\/bin\/robocup2d-server<\/p>\n<p> \u8fd9\u91cc\u5047\u8bbe\u670d\u52a1\u5668\u7684\u53ef\u6267\u884c\u6587\u4ef6\u540d\u4e3a  robocup2d-server  &#xff0c;\u4f4d\u4e8e  bin  \u76ee\u5f55\u4e0b\u3002\u6839\u636e\u5b9e\u9645\u60c5\u51b5&#xff0c;\u4f60\u53ef\u80fd\u9700\u8981\u4f7f\u7528  sudo  \u6765\u83b7\u53d6\u5fc5\u8981\u7684\u6743\u9650\u6216\u8c03\u6574\u8def\u5f84\u6765\u627e\u5230\u6b63\u786e\u7684\u53ef\u6267\u884c\u6587\u4ef6\u3002 <\/p>\n<h3> 4.4 \u6269\u5c55\u5185\u5bb9&#xff1a;\u4ee3\u7801\u5757\u548c\u4f9d\u8d56\u7ba1\u7406 <\/h3>\n<p> \u5728\u8f6f\u4ef6\u5de5\u7a0b\u4e2d&#xff0c;\u5904\u7406\u6e90\u7801\u548c\u4f9d\u8d56\u901a\u5e38\u4f1a\u4f7f\u7528\u5230\u5305\u7ba1\u7406\u5de5\u5177\u548c\u6784\u5efa\u7cfb\u7edf\u3002RoboCup 2D\u670d\u52a1\u5668\u7684\u6784\u5efa\u548c\u4f9d\u8d56\u7ba1\u7406\u53ef\u80fd\u4f7f\u7528\u5230\u4e86\u5982  Makefile  \u3001  CMakeLists.txt  \u6216\u8005  package.json  \u7b49\u6587\u4ef6\u3002\u8fd9\u4e9b\u6587\u4ef6\u5b9a\u4e49\u4e86\u7f16\u8bd1\u6307\u4ee4\u3001\u9879\u76ee\u4f9d\u8d56\u548c\u6784\u5efa\u6d41\u7a0b&#xff0c;\u662f\u8f6f\u4ef6\u5f00\u53d1\u7684\u6838\u5fc3\u7ec4\u6210\u90e8\u5206\u3002 <\/p>\n<h4> Makefile \u793a\u4f8b\u5206\u6790 <\/h4>\n<p> \u4e0b\u9762\u662f\u4e00\u4e2a  Makefile  \u7684\u7b80\u5355\u793a\u4f8b&#xff0c;\u5b83\u5b9a\u4e49\u4e86\u5982\u4f55\u7f16\u8bd1\u548c\u94fe\u63a5\u4e00\u4e2a\u7a0b\u5e8f&#xff1a; <\/p>\n<p># \u5b9a\u4e49\u7f16\u8bd1\u5668\u548c\u7f16\u8bd1\u9009\u9879<br \/>\nCC&#061;gcc<br \/>\nCFLAGS&#061;-g -Wall<\/p>\n<p># \u76ee\u6807\u6587\u4ef6\u5217\u8868<br \/>\nOBJ&#061;main.o utils.o<\/p>\n<p># \u6700\u7ec8\u76ee\u6807\u6587\u4ef6\u540d<br \/>\nTARGET&#061;robocup2d-server<\/p>\n<p># \u9ed8\u8ba4\u76ee\u6807&#xff1a;\u7f16\u8bd1\u548c\u94fe\u63a5<br \/>\nall: $(TARGET)<\/p>\n<p># \u7f16\u8bd1\u76ee\u6807\u6587\u4ef6<br \/>\n%.o: %.c<br \/>\n    $(CC) -c $(CFLAGS) $&lt; -o $&#064;<\/p>\n<p># \u94fe\u63a5\u6700\u7ec8\u76ee\u6807\u6587\u4ef6<br \/>\n$(TARGET): $(OBJ)<br \/>\n    $(CC) $(CFLAGS) -o $&#064; $^<\/p>\n<p># \u6e05\u7406\u7f16\u8bd1\u7ed3\u679c<br \/>\nclean:<br \/>\n    rm -f $(OBJ) $(TARGET)<\/p>\n<p># \u4f9d\u8d56\u89c4\u5219<br \/>\nmain.o: main.c utils.h<br \/>\nutils.o: utils.c utils.h<\/p>\n<p> \u5728  Makefile  \u4e2d&#xff0c;  %  \u7b26\u53f7\u7528\u4e8e\u5b9a\u4e49\u6a21\u5f0f\u89c4\u5219&#xff0c;  $&lt;  \u4ee3\u8868\u4f9d\u8d56\u9879&#xff0c;  $&#064;  \u4ee3\u8868\u76ee\u6807\u6587\u4ef6&#xff0c;  $^  \u4ee3\u8868\u6240\u6709\u7684\u4f9d\u8d56\u9879\u3002 <\/p>\n<h4> CMakeLists.txt \u793a\u4f8b\u5206\u6790 <\/h4>\n<p> \u5728  CMake  \u7cfb\u7edf\u4e2d&#xff0c;  CMakeLists.txt  \u6587\u4ef6\u5b9a\u4e49\u4e86\u9879\u76ee\u7684\u6784\u5efa\u89c4\u5219\u3002\u4e0b\u9762\u662f\u4e00\u4e2a\u7b80\u5355\u7684\u793a\u4f8b&#xff1a; <\/p>\n<p>cmake_minimum_required(VERSION 3.10)<br \/>\nproject(RoboCup2DServer LANGUAGES CXX)<\/p>\n<p># \u8bbe\u7f6eC&#043;&#043;\u6807\u51c6<br \/>\nset(CMAKE_CXX_STANDARD 11)<br \/>\nset(CMAKE_CXX_STANDARD_REQUIRED ON)<\/p>\n<p># \u6dfb\u52a0\u6e90\u6587\u4ef6<br \/>\nadd_executable(robocup2d-server main.cpp utils.cpp)<\/p>\n<p># \u67e5\u627e\u4f9d\u8d56\u5e93\u5e76\u94fe\u63a5<br \/>\nfind_package(Threads REQUIRED)<br \/>\ntarget_link_libraries(robocup2d-server Threads::Threads)<\/p>\n<p> \u5728\u8fd9\u4e2a  CMakeLists.txt  \u6587\u4ef6\u4e2d&#xff0c;  project()  \u51fd\u6570\u58f0\u660e\u4e86\u9879\u76ee\u540d\u79f0\u548c\u4f7f\u7528\u7684\u8bed\u8a00&#xff0c;  add_executable()  \u6dfb\u52a0\u4e86\u7f16\u8bd1\u76ee\u6807&#xff0c;\u800c  find_package()  \u548c  target_link_libraries()  \u5219\u7528\u4e8e\u67e5\u627e\u548c\u94fe\u63a5\u5fc5\u9700\u7684\u5e93\u3002 <\/p>\n<p> \u8fd9\u4e00\u7ae0\u8282\u6df1\u5165\u4ecb\u7ecd\u4e86\u83b7\u53d6RoboCup 2D\u670d\u52a1\u5668\u6e90\u7801\u7684\u65b9\u6cd5&#xff0c;\u5e76\u8be6\u7ec6\u89e3\u6790\u4e86\u7f16\u8bd1\u524d\u7684\u51c6\u5907\u5de5\u4f5c\u4ee5\u53ca\u6784\u5efa\u8fc7\u7a0b\u4e2d\u7684\u5173\u952e\u6b65\u9aa4\u3002\u901a\u8fc7\u672c\u7ae0\u8282\u7684\u5b66\u4e60&#xff0c;\u4f60\u53ef\u4ee5\u786e\u4fdd\u6e90\u7801\u7684\u6b63\u786e\u83b7\u53d6\u548c\u7f16\u8bd1&#xff0c;\u4e3a\u4e0b\u4e00\u6b65\u642d\u5efa\u4eff\u771f\u5e73\u53f0\u6253\u4e0b\u575a\u5b9e\u7684\u57fa\u7840\u3002 <\/p>\n<h2> 5. \u4eff\u771f\u8fd0\u884c\u4e0e\u7b56\u7565\u6d4b\u8bd5\u4f18\u5316 <\/h2>\n<h3> 5.1 \u673a\u5668\u4eba\u63a7\u5236\u5668\u7f16\u5199\u4e0e\u7f16\u7a0b\u8bed\u8a00\u9009\u62e9 <\/h3>\n<p> \u5728RoboCup 2D\u4eff\u771f\u6bd4\u8d5b\u4e2d&#xff0c;\u7f16\u5199\u9ad8\u6548\u7684\u673a\u5668\u4eba\u63a7\u5236\u5668\u662f\u56e2\u961f\u83b7\u5f97\u6210\u529f\u7684\u5173\u952e\u3002\u9009\u62e9\u5408\u9002\u7684\u7f16\u7a0b\u8bed\u8a00&#xff0c;\u80fd\u591f\u5e2e\u52a9\u5f00\u53d1\u8005\u4ee5\u66f4\u9ad8\u7684\u6548\u7387\u5b9e\u73b0\u590d\u6742\u7b56\u7565&#xff0c;\u589e\u5f3a\u56e2\u961f\u7684\u7ade\u4e89\u80fd\u529b\u3002 <\/p>\n<h4> 5.1.1 \u5e38\u7528\u7f16\u7a0b\u8bed\u8a00\u7684\u5bf9\u6bd4\u5206\u6790 <\/h4>\n<p> \u76ee\u524dRoboCup 2D\u4eff\u771f\u4e3b\u8981\u652f\u6301C&#043;&#043;\u548cJava\u7b49\u7f16\u7a0b\u8bed\u8a00\u3002C&#043;&#043;\u4ee5\u6027\u80fd\u5f3a\u5927\u8457\u79f0&#xff0c;\u9002\u5408\u8fdb\u884c\u7b97\u6cd5\u7ea7\u522b\u7684\u4f18\u5316&#xff1b;\u800cJava\u5219\u63d0\u4f9b\u4e86\u826f\u597d\u7684\u8de8\u5e73\u53f0\u652f\u6301\u548c\u4e30\u5bcc\u7684\u5e93\u8d44\u6e90\u3002\u9488\u5bf9\u4e0d\u540c\u7684\u5e94\u7528\u573a\u666f&#xff0c;\u5f00\u53d1\u8005\u9700\u8981\u8fdb\u884c\u6743\u8861\u9009\u62e9&#xff1a; <\/p>\n<ul>\n<li>  C&#043;&#043;  : <\/li>\n<li> \u6027\u80fd&#xff1a;\u7f16\u8bd1\u578b\u8bed\u8a00&#xff0c;\u8fd0\u884c\u901f\u5ea6\u5feb\u3002 <\/li>\n<li> \u793e\u533a&#xff1a;\u6709\u5e9e\u5927\u7684\u5f00\u53d1\u8005\u793e\u533a\u548c\u4e30\u5bcc\u7684\u8d44\u6e90\u3002 <\/li>\n<li>\n<p> \u590d\u6742\u6027&#xff1a;\u76f8\u5bf9\u590d\u6742\u7684\u8bed\u6cd5\u548c\u5185\u5b58\u7ba1\u7406\u673a\u5236\u3002 <\/p>\n<\/li>\n<li>\n<p>  Java  : <\/p>\n<\/li>\n<li> \u8de8\u5e73\u53f0&#xff1a;\u4e00\u6b21\u7f16\u5199&#xff0c;\u5230\u5904\u8fd0\u884c\u3002 <\/li>\n<li> \u5e93\u8d44\u6e90&#xff1a;\u6709\u5b8c\u5584\u7684\u5e93\u8d44\u6e90&#xff0c;\u65b9\u4fbf\u5f00\u53d1\u3002 <\/li>\n<li> \u6027\u80fd&#xff1a;\u867d\u7136\u8fd0\u884c\u5728JVM\u4e0a&#xff0c;\u53ef\u80fd\u7565\u900a\u4e8eC&#043;&#043;\u3002 <\/li>\n<\/ul>\n<h4> 5.1.2 \u7f16\u5199\u7b26\u5408RoboCup\u89c4\u5219\u7684\u63a7\u5236\u5668 <\/h4>\n<p> \u7f16\u5199\u673a\u5668\u4eba\u63a7\u5236\u5668\u65f6&#xff0c;\u5fc5\u987b\u4e25\u683c\u9075\u5b88RoboCup\u6bd4\u8d5b\u89c4\u5219\u3002\u63a7\u5236\u5668\u4ee3\u7801\u901a\u5e38\u5305\u62ec\u611f\u77e5\u3001\u51b3\u7b56\u548c\u52a8\u4f5c\u4e09\u4e2a\u6838\u5fc3\u90e8\u5206\u3002\u4e0b\u9762\u662f\u4e00\u4e2a\u7b80\u5355\u7684C&#043;&#043;\u4f2a\u4ee3\u7801\u793a\u4f8b&#xff0c;\u5c55\u793a\u4e86\u8fd9\u4e09\u4e2a\u90e8\u5206\u7684\u5b9e\u73b0&#xff1a; <\/p>\n<p>class RobotController {<br \/>\npublic:<br \/>\n    void sense() {<br \/>\n        \/\/ \u83b7\u53d6\u4f20\u611f\u5668\u6570\u636e&#xff0c;\u6bd4\u5982\u7403\u7684\u4f4d\u7f6e\u3001\u961f\u53cb\u548c\u654c\u4eba\u7684\u4f4d\u7f6e\u7b49<br \/>\n    }<br \/>\n    void decide() {<br \/>\n        \/\/ \u57fa\u4e8e\u611f\u77e5\u6570\u636e\u8fdb\u884c\u51b3\u7b56&#xff0c;\u8bbe\u8ba1\u7403\u961f\u7684\u6218\u672f\u548c\u52a8\u4f5c<br \/>\n    }<br \/>\n    void act() {<br \/>\n        \/\/ \u6839\u636e\u51b3\u7b56\u7ed3\u679c&#xff0c;\u751f\u6210\u5e76\u6267\u884c\u52a8\u4f5c&#xff0c;\u6bd4\u5982\u4f20\u7403\u3001\u5c04\u95e8\u7b49<br \/>\n    }<br \/>\n    void loop() {<br \/>\n        sense();<br \/>\n        decide();<br \/>\n        act();<br \/>\n    }<br \/>\n};<\/p>\n<h3> 5.2 \u4eff\u771f\u8fd0\u884c\u548c\u56e2\u961f\u534f\u4f5c <\/h3>\n<p> \u4eff\u771f\u73af\u5883\u7684\u642d\u5efa\u548c\u8fd0\u884c\u662f\u4e00\u4e2a\u6d89\u53ca\u591a\u4e2a\u89d2\u8272\u7684\u534f\u4f5c\u8fc7\u7a0b\u3002\u5bf9\u4e8e\u56e2\u961f\u4e2d\u7684\u6bcf\u4e2a\u6210\u5458\u6765\u8bf4&#xff0c;\u7406\u89e3\u5404\u81ea\u7684\u89d2\u8272\u548c\u8d23\u4efb\u81f3\u5173\u91cd\u8981\u3002 <\/p>\n<h4> 5.2.1 \u8bbe\u7f6e\u4eff\u771f\u73af\u5883\u548c\u6d4b\u8bd5\u573a\u666f <\/h4>\n<p> \u4eff\u771f\u73af\u5883\u7684\u8bbe\u7f6e\u901a\u5e38\u5305\u62ec\u5b9a\u4e49\u7403\u573a\u5927\u5c0f\u3001\u673a\u5668\u4eba\u548c\u7403\u7684\u53c2\u6570\u7b49\u3002\u6d4b\u8bd5\u573a\u666f\u7684\u8bbe\u7f6e\u5219\u51b3\u5b9a\u4e86\u6d4b\u8bd5\u7684\u5177\u4f53\u5185\u5bb9&#xff0c;\u6bd4\u5982\u662f\u6d4b\u8bd5\u6574\u4f53\u7684\u56e2\u961f\u534f\u4f5c\u8fd8\u662f\u5355\u4e2a\u673a\u5668\u4eba\u7684\u7279\u5b9a\u529f\u80fd\u3002 <\/p>\n<h4> 5.2.2 \u56e2\u961f\u5185\u90e8\u534f\u4f5c\u548c\u5206\u5de5 <\/h4>\n<p> \u56e2\u961f\u534f\u4f5c\u662f\u5f00\u53d1\u9ad8\u6548\u63a7\u5236\u5668\u7684\u5173\u952e\u3002\u6bcf\u4e2a\u6210\u5458\u5e94\u6839\u636e\u81ea\u8eab\u7684\u4e13\u957f\u8fdb\u884c\u5206\u5de5\u3002\u6bd4\u5982&#xff0c;\u4e00\u4e9b\u6210\u5458\u53ef\u80fd\u66f4\u64c5\u957f\u7f16\u5199\u51b3\u7b56\u7b97\u6cd5&#xff0c;\u800c\u53e6\u4e00\u4e9b\u53ef\u80fd\u4e13\u6ce8\u4e8e\u4ee3\u7801\u4f18\u5316\u6216\u89c6\u89c9\u8bc6\u522b\u7cfb\u7edf\u3002 <\/p>\n<h3> 5.3 \u7b56\u7565\u6d4b\u8bd5\u4e0e\u6027\u80fd\u4f18\u5316 <\/h3>\n<p> \u6d4b\u8bd5\u548c\u4f18\u5316\u7b56\u7565\u662f\u6bd4\u8d5b\u4e2d\u6301\u7eed\u6539\u8fdb\u7684\u8fc7\u7a0b\u3002\u6709\u6548\u7684\u6d4b\u8bd5\u53ef\u4ee5\u5e2e\u52a9\u8bc6\u522b\u63a7\u5236\u5668\u7684\u4e0d\u8db3\u4e4b\u5904&#xff0c;\u5e76\u9488\u5bf9\u6027\u5730\u8fdb\u884c\u4f18\u5316\u3002 <\/p>\n<h4> 5.3.1 \u5206\u6790\u6d4b\u8bd5\u7ed3\u679c\u5e76\u4f18\u5316\u7b56\u7565 <\/h4>\n<p> \u6d4b\u8bd5\u7ed3\u679c\u5206\u6790\u53ef\u80fd\u5305\u62ec\u547d\u4e2d\u7387\u3001\u9632\u5b88\u6548\u7387\u3001\u534f\u540c\u4f5c\u4e1a\u7b49\u591a\u4e2a\u65b9\u9762\u3002\u901a\u8fc7\u6536\u96c6\u548c\u5206\u6790\u6570\u636e&#xff0c;\u56e2\u961f\u53ef\u4ee5\u627e\u5230\u5f31\u70b9\u5e76\u8c03\u6574\u7b56\u7565\u3002 <\/p>\n<h4> 5.3.2 \u5e94\u7528\u673a\u5668\u5b66\u4e60\u65b9\u6cd5\u8fdb\u884c\u7b97\u6cd5\u4f18\u5316 <\/h4>\n<p> \u673a\u5668\u5b66\u4e60\u662f\u63d0\u5347\u7b56\u7565\u6027\u80fd\u7684\u4e00\u79cd\u6709\u6548\u624b\u6bb5\u3002\u5229\u7528\u673a\u5668\u5b66\u4e60\u65b9\u6cd5&#xff0c;\u53ef\u4ee5\u81ea\u52a8\u53d1\u73b0\u548c\u4f18\u5316\u51b3\u7b56\u8fc7\u7a0b\u4e2d\u7684\u5404\u79cd\u53c2\u6570\u3002 <\/p>\n<h3> 5.4 \u5e38\u89c1\u95ee\u9898\u89e3\u51b3\u4e0e\u793e\u533a\u8d44\u6e90\u5229\u7528 <\/h3>\n<p> \u5728\u4eff\u771f\u6d4b\u8bd5\u4e2d\u7ecf\u5e38\u4f1a\u9047\u5230\u5404\u79cd\u95ee\u9898\u3002\u6709\u6548\u5730\u5229\u7528\u793e\u533a\u8d44\u6e90\u662f\u89e3\u51b3\u95ee\u9898\u7684\u5173\u952e\u3002 <\/p>\n<h4> 5.4.1 \u5e94\u5bf9\u4eff\u771f\u8fc7\u7a0b\u4e2d\u51fa\u73b0\u7684\u5e38\u89c1\u95ee\u9898 <\/h4>\n<p> \u5e38\u89c1\u7684\u95ee\u9898\u53ef\u80fd\u5305\u62ec\u4eff\u771f\u8f6f\u4ef6\u7684\u5d29\u6e83\u3001\u673a\u5668\u4eba\u884c\u4e3a\u5f02\u5e38\u7b49\u3002\u56e2\u961f\u5e94\u8be5\u5efa\u7acb\u4e00\u5957\u95ee\u9898\u6392\u67e5\u6d41\u7a0b&#xff0c;\u5e76\u5bf9\u5e38\u89c1\u95ee\u9898\u6709\u6240\u51c6\u5907\u3002 <\/p>\n<h4> 5.4.2 \u5229\u7528\u5f00\u6e90\u793e\u533a\u8d44\u6e90\u89e3\u51b3\u95ee\u9898\u548c\u5b66\u4e60 <\/h4>\n<p> \u5f00\u6e90\u793e\u533a\u5982RoboCup\u5b98\u7f51\u3001GitHub\u7b49\u5e73\u53f0\u63d0\u4f9b\u4e86\u5927\u91cf\u7684\u8d44\u6e90\u548c\u6848\u4f8b&#xff0c;\u56e2\u961f\u53ef\u4ee5\u901a\u8fc7\u5b66\u4e60\u793e\u533a\u4e0a\u7684\u4f18\u79c0\u4ee3\u7801\u548c\u7ecf\u9a8c\u6765\u63d0\u5347\u81ea\u5df1\u7684\u5b9e\u529b\u3002 <\/p>\n<p> \u901a\u8fc7\u8fd9\u4e00\u7cfb\u5217\u7684\u6b65\u9aa4&#xff0c;\u56e2\u961f\u4e0d\u4ec5\u80fd\u591f\u5728\u4eff\u771f\u6d4b\u8bd5\u4e2d\u627e\u5230\u7b56\u7565\u7684\u5f31\u70b9\u5e76\u8fdb\u884c\u9488\u5bf9\u6027\u7684\u4f18\u5316&#xff0c;\u800c\u4e14\u80fd\u901a\u8fc7\u793e\u533a\u5408\u4f5c\u548c\u8d44\u6e90\u5171\u4eab&#xff0c;\u63d0\u5347\u6574\u4f53\u7684\u7ade\u4e89\u6c34\u5e73\u3002 <\/p>\n<p>  \u672c\u6587\u8fd8\u6709\u914d\u5957\u7684\u7cbe\u54c1\u8d44\u6e90&#xff0c;\u70b9\u51fb\u83b7\u53d6  <img decoding=\"async\" alt=\"menu-r.4af5f7ec.gif\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418094326-68021ebeacaeb.gif\" style=\"width:16px;margin-left:4px;vertical-align:text-bottom\" \/><\/p>\n<p> \u7b80\u4ecb&#xff1a;\u672c\u6587\u6df1\u5165\u4ecb\u7ecd\u4e86RoboCup 2D\u670d\u52a1\u5668\u7684\u529f\u80fd\u548c\u539f\u7406&#xff0c;\u5b83\u662f\u6a21\u62df\u8db3\u7403\u6bd4\u8d5b\u7684\u4eff\u771f\u73af\u5883\u6838\u5fc3\u3002\u6587\u7ae0\u8be6\u7ec6\u6307\u5bfc\u4e86\u5982\u4f55\u642d\u5efa2D\u4eff\u771f\u5e73\u53f0&#xff0c;\u5305\u62ec\u73af\u5883\u51c6\u5907\u3001\u83b7\u53d6\u6e90\u7801\u3001\u7f16\u8bd1\u6e90\u7801\u3001\u914d\u7f6e\u670d\u52a1\u5668\u3001\u542f\u52a8\u670d\u52a1\u5668\u3001\u7f16\u5199\u673a\u5668\u4eba\u63a7\u5236\u5668\u548c\u8fd0\u884c\u4eff\u771f\u7b49\u6b65\u9aa4\u3002\u5bf9\u9047\u5230\u7684\u95ee\u9898\u63d0\u4f9b\u4e86\u89e3\u51b3\u65b9\u6848&#xff0c;\u5e76\u6982\u8ff0\u4e86\u5e73\u53f0\u642d\u5efa\u6240\u9700\u7684\u6280\u672f\u77e5\u8bc6\u3002 <\/p>\n<p>  \u672c\u6587\u8fd8\u6709\u914d\u5957\u7684\u7cbe\u54c1\u8d44\u6e90&#xff0c;\u70b9\u51fb\u83b7\u53d6  <img decoding=\"async\" alt=\"menu-r.4af5f7ec.gif\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418094326-68021ebeacaeb.gif\" style=\"width:16px;margin-left:4px;vertical-align:text-bottom\" \/><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb816\u6b21\uff0c\u70b9\u8d5e5\u6b21\uff0c\u6536\u85cf9\u6b21\u3002\u672c\u6587\u8fd8\u6709\u914d\u5957\u7684\u7cbe\u54c1\u8d44\u6e90\uff0c\u70b9\u51fb\u83b7\u53d6   \u7b80\u4ecb\uff1a\u672c\u6587\u6df1\u5165\u4ecb\u7ecd\u4e86RoboCup 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