robocup defense.nb

Clear[bUpper, bLower, kmean, kstdev, r1mean, r1stdev, r2mean, \
r2stdev, r3mean, r3stdev]
ClearAll["Global'*"]
bUpper = 1; bLower = -1; kmean = 0; kstdev = .1;
r1stdev = 0.1;  r2stdev = 0.1; r3stdev = .1;
bounds = UnitStep[x - bUpper] + (1 - UnitStep[x - bLower]);
kickdistr = PDF[NormalDistribution[kmean, kstdev], x];

(* "Complement" of a normal distribution*)
r1form = Sqrt[2*Pi] *  r1stdev * 
   PDF[NormalDistribution[r1mean, r1stdev], x];
r2form = Sqrt[2*Pi] *  r2stdev * 
   PDF[NormalDistribution[r2mean, r2stdev], x];
r3form = Sqrt[2*Pi] *  r3stdev * 
   PDF[NormalDistribution[r3mean, r3stdev], x];

(* Chance numRobots in this and the other with statement to see the \
different outputs*)
With[{numRobots = 3},
 Which[
  numRobots == 1, robots = r1form ,
  numRobots == 2, robots = r1form + r2form - r1form *r2form ,
  numRobots == 3, 
  robots = r1form + r2form + r3form - r1form *r2form - 
    r1form *r3form - r2form*r3form - r1form*r2form*r3form]]

goodkick = 1 - robots - bounds;
results = Convolve[goodkick, kickdistr, x, z];
func = Integrate[results, {z, bLower - kstdev, bUpper + kstdev}];

minData = -3;
maxData = 3;

(* 
 For 1 robot, the X axis is the robot location, the Y axis is the \
total probability
For 2 robots, the X and Y axis are the two robot locations, the color \
is the total probability
For 3 robots, the X, Y, and Z axis are the three robot locations, the \
color is the total probability
*)
With[{numRobots = 3},
 Which[
  numRobots == 1, Plot[func, {r1mean, minData, maxData}],
  numRobots == 2, 
  Plot3D[func, {r1mean, minData, maxData}, {r2mean, minData, 
    maxData}, PlotPoints -> 50],
  numRobots == 3, 
  data = Table[-func, {r1mean, minData, maxData}, {r2mean, minData, 
     maxData}, {r3mean, minData, maxData}];
  ListContourPlot3D[data, Contours -> 5, Mesh -> None, 
   PlotLegends -> "Expressions"]]]
DensityPlot3D[func, {r1mean, minData, maxData}, {r2mean, minData, 
  maxData}, {r3mean, minData, maxData}, PlotLegends -> Automatic]

(* Plots a sample probability to score at X angle distribution with 3 \
robots in the way *)
r1mean = 0; r2mean = -0.5; r3mean = 0.5;
Plot[results, {z, minData, maxData}, Filling -> Axis]