Alive Robots in robot_factory_position #2212
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sid-parikh
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Mar 6, 2024
soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
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sid-parikh
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soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
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sid-parikh
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…e alive_robots_. Modified type of alive_robots_ almost everywhere to be the std::array<bool, kNumShells> rather than the std::vector<int>
… the new array parameter, made code cleaner for loop in robot_factory_position
…ategy/alive_robots) for consistency
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rishiso
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Mar 9, 2024
| @@ -94,18 +94,19 @@ SimRadio::SimRadio(bool blue_team) | |||
| ip::udp::endpoint(address_, blue_team_ ? kSimBlueCommandPort : kSimYellowCommandPort); | |||
| sim_control_endpoint_ = ip::udp::endpoint(address_, kSimCommandPort); | |||
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| // assume robots 0-6 are always alive in sim | |||
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| // assume robots 0-6 are always alive in sim | |
| // assume robots 0-5 are always alive in sim |
rishiso
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Mar 9, 2024
| @@ -49,29 +50,29 @@ std::optional<RobotIntent> RobotFactoryPosition::get_task(WorldState& world_stat | |||
| // Assigning new position | |||
| // Checking whether we have possesion or if the ball is on their half (using 1.99 to avoid | |||
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| // Checking whether we have possesion or if the ball is on their half (using 1.99 to avoid | |
| // Checking whether we have possesion or if the ball is on their half |
rishiso
reviewed
Mar 9, 2024
| @@ -49,29 +50,29 @@ std::optional<RobotIntent> RobotFactoryPosition::get_task(WorldState& world_stat | |||
| // Assigning new position | |||
| // Checking whether we have possesion or if the ball is on their half (using 1.99 to avoid | |||
| // rounding issues on midline) | |||
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| // rounding issues on midline) |
rishiso
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Mar 9, 2024
| @@ -6,7 +6,6 @@ RobotFactoryPosition::RobotFactoryPosition(int r_id) : Position(r_id, "RobotFact | |||
| if (robot_id_ == 0) { | |||
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| if (robot_id_ == 0) { | |
| if (robot_id_ == goalie_id_) { |
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Goalie is never reassigned inside get_task(), so it is important to do this here
rishiso
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Mar 9, 2024
| @@ -16,7 +15,7 @@ RobotFactoryPosition::RobotFactoryPosition(int r_id) : Position(r_id, "RobotFact | |||
| std::optional<RobotIntent> RobotFactoryPosition::get_task(WorldState& world_state, | |||
| FieldDimensions& field_dimensions) { | |||
| // If keeper, make no changes | |||
| if (robot_id_ == 0) { | |||
| if (robot_id_ == goalie_id_) { | |||
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I will need to double-check with Sid about this, but if the goalie can change, we need to add functionality here to update the goalie if it is not assigned correctly.
jacksherling
requested changes
Mar 9, 2024
| if (Position::our_possession_ || | ||
| world_state.ball.position.y() > field_dimensions.length() / 1.99) { | ||
| if (our_possession_ || | ||
| world_state.ball.position.y() > field_dimensions.center_field_loc().y() - kBallDiameter) { | ||
| // Offensive mode | ||
| // Closest 2 robots on defense, rest on offense | ||
| if (i <= 1) { |
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While we're working on this file, could we change the i variable name to something more descriptive? Perhaps robot_y_index?
Variable defined on line 42 but it's collapsed so GitHub won't let me comment there
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Merged into kicker-picker see #2200 |
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Changed a few things so that robot_factory_position and a couple other classes use the alive_robots_ array properly. Had to change the type of alive_robots_ from vector to array in a few classes.
In the loop in robot_factory_position, there is a variable j that keeps track of the count and the for each loop gets all of the booleans from alive_robots_ and uses that value in whether to execute the code in the loop body or not.