Handcoded Policy

Input: State s.
Output: Action a.

{
	//If possible, shoot.
        IF s.dist_to_goal(O1) < 15.0 AND s.max_ang_with_goal(O1) > 20.0 OR s.dist_to_goal(O1) < 25.0 AND s.max_ang_with_goal(O1) > 40.0
        	a <- Shoot;
		RETURN;
	
	//If possible, dribble.
       	IF s.min_dist_to_defender(O1) > 6.0 AND s.min_dist_to_defender_in_dribble_cone(01) > 10.0
        	a <- Dribble;
                RETURN;

        //Decide to whom to pass.
	FOR i = 2, 3, 4
		safe_to_pass_i <- TRUE;
 		
		IF s.dist(O1, Oi) > 30.0 
			safe_to_pass_i <- FALSE;
		
		IF s.dist_to_goal(Oi) > 20.0 
			IF s.min_dist_to_defender < 6.0 OR s.min_ang_with_defender < 20.0
 				safe_to_pass_i <- FALSE; 
		
		IF s.dist_to_goal(Oi) <= 20.0 
			IF s.min_dist_to_defender < 4.0 OR s.min_ang_with_defender < 15.0
				safe_to_pass_i <- FALSE;
		
		IF safe_to_pass_i
			pass_value_i <- -s.dist_to_goal(Oi);
 		ELSE 
			pass_value_i <- -infinity; 
	
	IF safe_to_pass_2 OR safe_to_pass_3 OR safe_to_pass_4	//It is safe to pass to someone. 
		i <- argmax_i {pass_value_i};
	ELSE //It is not safe to pass, so just pass to one who has the widest angle with the defenders.
 		i <- argmax_i s.min_ang_with_defender(Oi); 

	a <- Passi;
 	RETURN;
}