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[simspark-svn] SF.net SVN: simspark:[312] trunk/rcssserver3d
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From: <he...@us...> - 2012-05-19 18:17:18
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Revision: 312
http://simspark.svn.sourceforge.net/simspark/?rev=312&view=rev
Author: hedayat
Date: 2012-05-19 18:17:11 +0000 (Sat, 19 May 2012)
Log Message:
-----------
Fix the position of right corner kick to use mBallRadius rather than a hard coded value
Use new value for corner kick position for RoboCup 2012, to be between the goal and field's corner position
Updated RELEASE and NEWS files with information about the new dimensions in this release
Updated version to 0.6.6 (CMakeLists.txt)
Increased free kick distance to 2.0.
Fixed spelling error in GetMonitorInformation()
Modified Paths:
--------------
trunk/rcssserver3d/CMakeLists.txt
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/NEWS
trunk/rcssserver3d/RELEASE
trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp
trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.h
trunk/rcssserver3d/plugin/soccer/sexpmonitor/sexpmonitor.cpp
trunk/rcssserver3d/plugin/soccer/sexpmonitor/sexpmonitor.h
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
Modified: trunk/rcssserver3d/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/CMakeLists.txt 2012-05-19 17:21:27 UTC (rev 311)
+++ trunk/rcssserver3d/CMakeLists.txt 2012-05-19 18:17:11 UTC (rev 312)
@@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 2.6)
project(rcssserver3d CXX C)
-set(PACKAGE_VERSION "0.6.5")
+set(PACKAGE_VERSION "0.6.6")
########## check for headerfiles/libraries ##########
include(CheckIncludeFile)
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2012-05-19 17:21:27 UTC (rev 311)
+++ trunk/rcssserver3d/ChangeLog 2012-05-19 18:17:11 UTC (rev 312)
@@ -1,3 +1,30 @@
+2012-05-19 Hedayat Vatankhah <hed...@gm...>
+
+ * plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
+ (SoccerRuleAspect::CheckBallLeftField):
+ - fix the position of right corner kick to use mBallRadius rather than
+ a hard coded value
+ - use new value for corner kick position for RoboCup 2012, to be between
+ the goal and field's corner position
+
+ * NEWS:
+ * RELEASE:
+ - added information about the new dimensions in this release
+
+ * CMakeLists.txt:
+ - updated version to 0.6.6
+
+ * rcssserver3d/naosoccersim.rb:
+ - increased free kick distance to 2.0. actually it should be 2.75, but
+ since we are going to have an artificial corner point it should be
+ probably smaller too.
+
+ * plugin/soccer/rcs3dmonitor/rcs3dmonitor.h:
+ * plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp:
+ * plugin/soccer/sexpmonitor/sexpmonitor.h:
+ * plugin/soccer/sexpmonitor/sexpmonitor.cpp:
+ - fixed spelling error in GetMonitorInformation()
+
2012-05-17 Hedayat Vatankhah <hed...@gm...>
* rcssserver3d/naosoccersim.rb:
Modified: trunk/rcssserver3d/NEWS
===================================================================
--- trunk/rcssserver3d/NEWS 2012-05-19 17:21:27 UTC (rev 311)
+++ trunk/rcssserver3d/NEWS 2012-05-19 18:17:11 UTC (rev 312)
@@ -1,3 +1,54 @@
+[0.6.6]
+It's time for a new release! This release comes with a number of bug fixes and
+several minor enhancements here and there. Now, you can run the server for
+two complete halves. Teams now change their sides in the second half. Also,
+automatic kick off and automatic quit modes are added. Field dimensions are
+also increased to 20x30 meters, and free kick distance is 2.0 meters now.
+More detailed information about this release follows:
+
+* Field Changes:
+ - New dimensions: 20x30
+ - Free kick distance: 2.0
+ - Corner kick position: in the middle point between goal and corner of the
+ field, to facilitate faster corner kicks.
+
+* Several Bug fixes. Some notable ones are:
+ - Penalty lines and middle circle are now visible at their actual position
+ (Thanks to Marcus for his bug report, and Sander).
+ - Fixed a small bug in parsing move paramter (Thanks to Andreas Seekircher)
+ - Fixed a mistake which prevented from touch group rules to be applied at all
+ - Fixed a small bug in goal counting which cause this function to always
+ count a goal when ball moved out of the field
+
+* Enhance Automatic Kickoff Support:
+ - Changed default value of 'WaitBeforeKickOff' to 30, since 5 seconds
+ is too small for any team to start.
+ - WaitBeforeKickOff is now calculated from when the first agent connects
+ rather than from the beginning of the before kickoff playmode (when the
+ simulator is started)
+ - A game can be started with kick off for the left team, or using 'coin toss'
+ to determine which team should start the game. CoinTossForKickOff variable
+ in naosoccersim.rb can be used to change the behavior. It is disabled
+ by default.
+
+* Enhance Support for 'Second Half':
+ - Automatic Kick Off mode assigns Kick off to the correct team in the second
+ half
+ - Change teams' sides in the second half if enabled (enabled by default). It
+ can be disabled using ChangeSidesInSecondHalf variable in naosoccersim.rb.
+
+* Automatic Quit:
+ - In Automatic Quit mode rcsssever3d shuts down automatically when the game
+ is over. It is disabled by default but can be enabled using 'AutomaticQuit'
+ variable in naosoccersim.rb
+
+* Other Enhancements:
+ - The location of init scripts (e.g. zeitgeist.rb) can now be specified using
+ --init-script-prefix (you still can put most of the scripts and data files
+ like rsg/ directory inside your ~/.simspark/ instead).
+ - Better Windows support
+ - Support creating Windows binaries under Linux using MinGW
+
[0.6.5]
This release comes with a number of enhancements and some bug fixes. Most
notably, the automated referee is improved to prevent many agents to collide
Modified: trunk/rcssserver3d/RELEASE
===================================================================
--- trunk/rcssserver3d/RELEASE 2012-05-19 17:21:27 UTC (rev 311)
+++ trunk/rcssserver3d/RELEASE 2012-05-19 18:17:11 UTC (rev 312)
@@ -3,9 +3,16 @@
It's time for a new release! This release comes with a number of bug fixes and
several minor enhancements here and there. Now, you can run the server for
two complete halves. Teams now change their sides in the second half. Also,
-automatic kick off and automatic quit modes are added. More detailed information
-about this release follows:
+automatic kick off and automatic quit modes are added. Field dimensions are
+also increased to 20x30 meters, and free kick distance is 2.0 meters now.
+More detailed information about this release follows:
+* Field Changes:
+ - New dimensions: 20x30
+ - Free kick distance: 2.0
+ - Corner kick position: in the middle point between goal and corner of the
+ field, to facilitate faster corner kicks.
+
* Several Bug fixes. Some notable ones are:
- Penalty lines and middle circle are now visible at their actual position
(Thanks to Marcus for his bug report, and Sander).
@@ -37,11 +44,11 @@
variable in naosoccersim.rb
* Other Enhancements:
-- The location of init scripts (e.g. zeitgeist.rb) can now be specified using
+ - The location of init scripts (e.g. zeitgeist.rb) can now be specified using
--init-script-prefix (you still can put most of the scripts and data files
like rsg/ directory inside your ~/.simspark/ instead).
-- Better Windows support
-- Support creating Windows binaries under Linux using MinGW
+ - Better Windows support
+ - Support creating Windows binaries under Linux using MinGW
You can get the package on the Simspark page on SourceForge
at http://sourceforge.net/projects/simspark/
Modified: trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp 2012-05-19 17:21:27 UTC (rev 311)
+++ trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp 2012-05-19 18:17:11 UTC (rev 312)
@@ -91,7 +91,7 @@
}
}
-string RCS3DMonitor::GetMonitorInfomation(const PredicateList& pList)
+string RCS3DMonitor::GetMonitorInformation(const PredicateList& pList)
{
stringstream ss;
mFullState = false;
Modified: trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.h 2012-05-19 17:21:27 UTC (rev 311)
+++ trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.h 2012-05-19 18:17:11 UTC (rev 312)
@@ -82,7 +82,7 @@
* the MonitorServer. The monitor should transfer them to the
* client if possible.
*/
- virtual std::string GetMonitorInfomation(const oxygen::PredicateList& pList);
+ virtual std::string GetMonitorInformation(const oxygen::PredicateList& pList);
/** This function is called once for every MonitorSystem each time
* a new client connects. It should return any header/setup
Modified: trunk/rcssserver3d/plugin/soccer/sexpmonitor/sexpmonitor.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/sexpmonitor/sexpmonitor.cpp 2012-05-19 17:21:27 UTC (rev 311)
+++ trunk/rcssserver3d/plugin/soccer/sexpmonitor/sexpmonitor.cpp 2012-05-19 18:17:11 UTC (rev 312)
@@ -213,7 +213,7 @@
}
string
-SexpMonitor::GetMonitorInfomation(const oxygen::PredicateList& pList)
+SexpMonitor::GetMonitorInformation(const oxygen::PredicateList& pList)
{
if (mGameState->IsFinished())
{
Modified: trunk/rcssserver3d/plugin/soccer/sexpmonitor/sexpmonitor.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/sexpmonitor/sexpmonitor.h 2012-05-19 17:21:27 UTC (rev 311)
+++ trunk/rcssserver3d/plugin/soccer/sexpmonitor/sexpmonitor.h 2012-05-19 18:17:11 UTC (rev 312)
@@ -61,7 +61,7 @@
* the MonitorServer. The monitor should transfer them to the
* client if possible.
*/
- virtual std::string GetMonitorInfomation(const oxygen::PredicateList& pList);
+ virtual std::string GetMonitorInformation(const oxygen::PredicateList& pList);
/** This function is called once for every MonitorSystem each time
* a new client connects. It should return any header/setup
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2012-05-19 17:21:27 UTC (rev 311)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2012-05-19 18:17:11 UTC (rev 312)
@@ -1034,18 +1034,26 @@
// check corner kick right team
else if (last_touch_left && ball_left)
{
+ // temp value for RoboCup 2012
+ // correct value: mFieldWidth / 2 - mBallRadius
+ const float cornerKickY = (mFieldWidth + mGoalWidth) / 4.0
+ - mBallRadius;
mFreeKickPos[0] = -mFieldLength / 2 + mBallRadius;
mFreeKickPos[1] = ball_pos[1] > 0 ?
- mFieldWidth / 2 - 0.05 : -mFieldWidth / 2 + 0.05;
+ cornerKickY : -cornerKickY;
mFreeKickPos[2] = mBallRadius;
mGameState->SetPlayMode(PM_CORNER_KICK_RIGHT);
}
// check corner kick left team
else
{
+ // temp value for RoboCup 2012
+ // correct value: mFieldWidth / 2 - mBallRadius
+ const float cornerKickY = (mFieldWidth + mGoalWidth) / 4.0
+ - mBallRadius;
mFreeKickPos[0] = mFieldLength / 2 - mBallRadius;
mFreeKickPos[1] = ball_pos[1] > 0 ?
- mFieldWidth / 2 - mBallRadius : -mFieldWidth / 2 + mBallRadius;
+ cornerKickY : -cornerKickY;
mFreeKickPos[2] = mBallRadius;
mGameState->SetPlayMode(PM_CORNER_KICK_LEFT);
}
Modified: trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
===================================================================
--- trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2012-05-19 17:21:27 UTC (rev 311)
+++ trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2012-05-19 18:17:11 UTC (rev 312)
@@ -45,8 +45,8 @@
addSoccerVar('GoalHeight', 0.8)
addSoccerVar('PenaltyLength',1.8)
addSoccerVar('PenaltyWidth',3.9)
-addSoccerVar('FreeKickDistance', 1.3)
-addSoccerVar('FreeKickMoveDist', 1.5)
+addSoccerVar('FreeKickDistance', 2.0)
+addSoccerVar('FreeKickMoveDist', 2.2)
addSoccerVar('GoalKickDist', 1.0)
addSoccerVar('BorderSize', 0.0) # prevent complaining about missing variable
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