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[simspark-svn] SF.net SVN: simspark:[363] trunk/rcssserver3d
|
From: <he...@us...> - 2013-06-12 15:07:24
|
Revision: 363
http://sourceforge.net/p/simspark/svn/363
Author: hedayat
Date: 2013-06-12 15:07:21 +0000 (Wed, 12 Jun 2013)
Log Message:
-----------
Add Id svn keyword to all .cpp/.c/.h files
Some Reformatting
Adding charging foul variables to naosoccersim.rb
Updating NEWS/Release/CmakeLists.txt for 0.6.7 release
Modified Paths:
--------------
trunk/rcssserver3d/CMakeLists.txt
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/NEWS
trunk/rcssserver3d/RELEASE
trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.h
trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler_c.cpp
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpaction.h
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.h
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector_c.cpp
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.h
trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp
trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.h
trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor_c.cpp
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem.cpp
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem.h
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem_c.cpp
trunk/rcssserver3d/rcssagent3d/naobehavior.cpp
trunk/rcssserver3d/rcssserver3d/naorobottypes.rb
trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
Property Changed:
----------------
trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp
trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.h
trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler_c.cpp
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/base.c
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/base.h
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/compatible.h
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/hmdp_c.c
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/hmdp_c.h
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/sine_fixed.c
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/sine_fixed.h
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpaction.h
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.cpp
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.h
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector_c.cpp
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.cpp
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.h
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor_c.cpp
trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpwrapper.cpp
trunk/rcssserver3d/plugin/soccer/hmdp_effector/naospecific.cpp
trunk/rcssserver3d/plugin/soccer/hmdp_effector/naospecific.h
trunk/rcssserver3d/plugin/soccer/line/line.cpp
trunk/rcssserver3d/plugin/soccer/line/line.h
trunk/rcssserver3d/plugin/soccer/line/line_c.cpp
trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp
trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.h
trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor_c.cpp
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem.cpp
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem.h
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem_c.cpp
Modified: trunk/rcssserver3d/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/CMakeLists.txt 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/CMakeLists.txt 2013-06-12 15:07:21 UTC (rev 363)
@@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 2.6)
project(rcssserver3d CXX C)
-set(PACKAGE_VERSION "0.6.6")
+set(PACKAGE_VERSION "0.6.7")
########## check for headerfiles/libraries ##########
include(CheckIncludeFile)
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/ChangeLog 2013-06-12 15:07:21 UTC (rev 363)
@@ -1,3 +1,20 @@
+2013-06-12 Hedayat Vatankhah <hed...@gm...>
+
+ * NEWS:
+ * RELEASE:
+ * CMakeLists.txt:
+ - Updated for 0.6.7 release
+
+ * rcssagent3d/naobehavior.cpp:
+ - use the new style scene command to load standard Nao
+
+ * rcssserver3d/naorobottypes.rb:
+ * plugin/soccer/soccerruleaspect/soccerruleaspect.cpp:
+ - re-formatted for better readability & consistency
+
+ * rcssserver3d/naosoccersim.rb:
+ - add charging foul parameters to silent 'variable not found' errors
+
2013-06-12 Sander van Dijk <sgv...@gm...>
* plugin/soccer/soccerruleaspect/soccerruleaspect.h:
@@ -6,7 +23,6 @@
- added Patrick's charging foul rules, plus soccervar parameters
to enable and configure them. these fouls are not penalized, only
recorded and sent to the monitor
-
2013-06-09 Hedayat Vatankhah <hed...@gm...>
@@ -18,7 +34,7 @@
both the total number of heterogeneous players of each team
(MaxTotalHeteroCount variable in naosoccersim.rb), and the number of
heterogeneous players of each type (MaxHeteroTypeCount variable)
-
+
2013-06-06 Hedayat Vatankhah <hed...@gm...>
* plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.h:
Modified: trunk/rcssserver3d/NEWS
===================================================================
--- trunk/rcssserver3d/NEWS 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/NEWS 2013-06-12 15:07:21 UTC (rev 363)
@@ -1,3 +1,46 @@
+[0.6.7]
+This is the RoboCup 2013 release. It comes with some bug fixes, and also
+compatibility with latest Boost libraries. New foulds and new debugging
+facility are provided. Now, fouls are sent to the monitor so that it can
+provide visual feedback about them. Finally, support for heterogeneous robots
+is added and two sample types are provided.
+
+* Heterogeneous Players:
+ This release supports heterogeneous players. Currently, two extra Nao robots
+ are provided beside the standard Nao (thanks Stefan and Klaus).
+
+ - Usage: to use the new heterogeneous players, a new scene command should be
+ used. While the old style scene commands work, for using hetero players you
+ should send "(scene rsg/agent/nao/nao_hetero.rsg TYPE_NO)", in which TYPE_NO
+ is the type number of the player type. Type 0 is the standard type, and
+ hetero types start from 1. Therefore, to load Nao type 1 the following
+ command should be sent: (scene rsg/agent/nao/nao_hetero.rsg 1). Notice that
+ you can use the new style command for loading standard Nao, using 0 as
+ TYPE_NO.
+
+ - Heterogeneous Robot Parameters: The robot parameters for different types
+ are defined in a new file: "naorobottypes.rb". New types can be added to the
+ array. But to define new parameters, corresponding .rsg files should be
+ modified.
+
+ - Rules: Each team can use a limited number of hetero players. The limits
+ can be configured in naosoccersim.rb using "MaxTotalHeteroCount" and
+ "MaxHeteroTypeCount" variables. The former limits the total number of hetero
+ players for each team, and the latter specifies the maximum number of players
+ of a single hetero player type.
+
+* Other Features/Changes:
+ - Charging fouls rules are added (thanks Patrick). These fouls are not
+ penalized, but recorded and sent to the monitor. New rules can be configured
+ in naosoccersim.rb.
+ - Fouls are added to the monitor protocol to provide visual feedback about
+ them to viewers.
+ - For debugging purposes, sensing the orientation of the agent can be
+ enabled using "setSenseMyOrien" option in the .rsg file of an agent (added
+ by Patrick)
+ - A player can kick the ball in kickoff if there are only 2 players in
+ the field to support current penalty mode.
+
[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
Modified: trunk/rcssserver3d/RELEASE
===================================================================
--- trunk/rcssserver3d/RELEASE 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/RELEASE 2013-06-12 15:07:21 UTC (rev 363)
@@ -1,64 +1,46 @@
-RELEASE News of rcssserver3d-0.6.6
+RELEASE News of rcssserver3d-0.6.7
-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:
+This is the RoboCup 2013 release. It comes with some bug fixes, and also
+compatibility with latest Boost libraries. New foulds and new debugging
+facility are provided. Now, fouls are sent to the monitor so that it can
+provide visual feedback about them. Finally, support for heterogeneous robots
+is added and two sample types are provided.
-* Rule Changes:
- - automatic referee now enforces rules whenever players are permitted to
- play, rather than only in playon play mode.
- - it is no longer possible to score directly from kick off, the ball should
- at least touch another player before going into the goal
- - in kickoff playmode, the kicker cannot touch the ball again until another
- player touches it.
+* Heterogeneous Players:
+ This release supports heterogeneous players. Currently, two extra Nao robots
+ are provided beside the standard Nao (thanks Stefan and Klaus).
+
+ - Usage: to use the new heterogeneous players, a new scene command should be
+ used. While the old style scene commands work, for using hetero players you
+ should send "(scene rsg/agent/nao/nao_hetero.rsg TYPE_NO)", in which TYPE_NO
+ is the type number of the player type. Type 0 is the standard type, and
+ hetero types start from 1. Therefore, to load Nao type 1 the following
+ command should be sent: (scene rsg/agent/nao/nao_hetero.rsg 1). Notice that
+ you can use the new style command for loading standard Nao, using 0 as
+ TYPE_NO.
+
+ - Heterogeneous Robot Parameters: The robot parameters for different types
+ are defined in a new file: "naorobottypes.rb". New types can be added to the
+ array. But to define new parameters, corresponding .rsg files should be
+ modified.
+
+ - Rules: Each team can use a limited number of hetero players. The limits
+ can be configured in naosoccersim.rb using "MaxTotalHeteroCount" and
+ "MaxHeteroTypeCount" variables. The former limits the total number of hetero
+ players for each team, and the latter specifies the maximum number of players
+ of a single hetero player type.
-* Field/Dimension 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.
- - Nao's foot height is now 0.02 rather than 0.03. Ankle's position changed
- accordingly
+* Other Features/Changes:
+ - Charging fouls rules are added (thanks Patrick). These fouls are not
+ penalized, but recorded and sent to the monitor. New rules can be configured
+ in naosoccersim.rb.
+ - Fouls are added to the monitor protocol to provide visual feedback about
+ them to viewers.
+ - For debugging purposes, sensing the orientation of the agent can be
+ enabled using "setSenseMyOrien" option in the .rsg file of an agent (added
+ by Patrick)
+ - A player can kick the ball in kickoff if there are only 2 players in
+ the field to support current penalty mode.
-* 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
-
You can get the package on the Simspark page on SourceForge
at http://sourceforge.net/projects/simspark/
Index: trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Modified: trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.h 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.h 2013-06-12 15:07:21 UTC (rev 363)
@@ -4,7 +4,7 @@
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: recorderhandler.h 176 2010-02-25 12:19:37Z a-held $
+ $Id$
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
Property changes on: trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.h
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Modified: trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler_c.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler_c.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler_c.cpp 2013-06-12 15:07:21 UTC (rev 363)
@@ -4,7 +4,7 @@
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: recorderhandler_c.cpp 176 2010-02-25 12:19:37Z a-held $
+ $Id$
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
Property changes on: trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler_c.cpp
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/base.c
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/base.c 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/base.c 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/base.c
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/base.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/base.h 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/base.h 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/base.h
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/compatible.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/compatible.h 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/compatible.h 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/compatible.h
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/hmdp_c.c
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/hmdp_c.c 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/hmdp_c.c 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/hmdp_c.c
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/hmdp_c.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/hmdp_c.h 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/hmdp_c.h 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/hmdp_c.h
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/sine_fixed.c
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/sine_fixed.c 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/sine_fixed.c 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/sine_fixed.c
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/sine_fixed.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/sine_fixed.h 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/sine_fixed.h 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdp_c/sine_fixed.h
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Modified: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpaction.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpaction.h 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpaction.h 2013-06-12 15:07:21 UTC (rev 363)
@@ -4,7 +4,7 @@
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: forceaction.h,v 1.3 2004/02/12 14:07:24 fruit Exp $
+ $Id$
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpaction.h
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.cpp 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.cpp
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Modified: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.h 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.h 2013-06-12 15:07:21 UTC (rev 363)
@@ -4,7 +4,7 @@
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: HMDPeffector.h,v 1.5 2007/06/14 17:55:18 jboedeck Exp $
+ $Id$
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.h
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Modified: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector_c.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector_c.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector_c.cpp 2013-06-12 15:07:21 UTC (rev 363)
@@ -4,7 +4,7 @@
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: forceeffector_c.cpp,v 1.3 2004/02/21 15:51:39 fruit Exp $
+ $Id$
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector_c.cpp
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.cpp 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.cpp
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Modified: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.h 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.h 2013-06-12 15:07:21 UTC (rev 363)
@@ -4,7 +4,7 @@
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: gyrorateperceptor.h,v 1.2 2007/05/30 18:40:49 jboedeck Exp $
+ $Id$
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.h
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor_c.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor_c.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor_c.cpp 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor_c.cpp
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpwrapper.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpwrapper.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpwrapper.cpp 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/hmdpwrapper.cpp
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/hmdp_effector/naospecific.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/naospecific.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/naospecific.cpp 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/naospecific.cpp
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/hmdp_effector/naospecific.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/hmdp_effector/naospecific.h 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/hmdp_effector/naospecific.h 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/hmdp_effector/naospecific.h
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/line/line.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/line/line.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/line/line.cpp 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/line/line.cpp
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/line/line.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/line/line.h 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/line/line.h 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/line/line.h
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Index: trunk/rcssserver3d/plugin/soccer/line/line_c.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/line/line_c.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/line/line_c.cpp 2013-06-12 15:07:21 UTC (rev 363)
Property changes on: trunk/rcssserver3d/plugin/soccer/line/line_c.cpp
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Modified: trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp 2013-06-12 15:07:21 UTC (rev 363)
@@ -4,7 +4,7 @@
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: RCS3DMonitor.cpp 246 2011-02-18 18:44:14Z sgvandijk $
+ $Id$
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
Property changes on: trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Modified: trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.h 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.h 2013-06-12 15:07:21 UTC (rev 363)
@@ -4,7 +4,7 @@
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: sparkmonitor.h 3 2008-11-21 02:38:08Z hedayat $
+ $Id$
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
Property changes on: trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.h
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Modified: trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor_c.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor_c.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor_c.cpp 2013-06-12 15:07:21 UTC (rev 363)
@@ -4,7 +4,7 @@
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: sparkmonitor_c.cpp 3 2008-11-21 02:38:08Z hedayat $
+ $Id$
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
Property changes on: trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor_c.cpp
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2013-06-12 15:07:21 UTC (rev 363)
@@ -290,7 +290,8 @@
{
boost::shared_ptr<TouchGroup> touchGroup = (*asIt)->GetTouchGroup();
- if (touchGroup->size() != 2) {
+ if (touchGroup->size() != 2)
+ {
continue;
}
@@ -299,7 +300,7 @@
float s[2]; //agentSpeed
float d[2]; //agentDistToBall
float a[2]; //agentAngleOfSpeedVectorToBall
- float agentAngleOfSpeedVectorToOpponent[2];
+ float agentAngleOfSpeedVectorToOpponent[2];
float m; //mutualAngleOfSpeed
int agentUNum[2];
int agentTeamIndex[2];
@@ -310,7 +311,7 @@
for (TouchGroup::iterator agentIt = touchGroup->begin();
agentIt != touchGroup->end(); ++agentIt)
{
-
+
boost::shared_ptr<Transform> transform_parent;
boost::shared_ptr<RigidBody> agent_body;
@@ -321,105 +322,157 @@
agentPos[i] = agent_body->GetPosition();
// Compute agent distance to ball
- d[i] = sqrt(pow(agentPos[i].x()-ballPos.x(),2)+pow(agentPos[i].y()-ballPos.y(),2));
-
+ d[i] = sqrt(pow(agentPos[i].x() - ballPos.x(), 2)
+ + pow(agentPos[i].y() - ballPos.y(), 2));
+
// Get agent velocity
agentVel[i] = agent_body->GetVelocity();
// Compute agent speed
- s[i] = sqrt(pow(agentVel[i].x(),2)+pow(agentVel[i].y(),2));
+ s[i] = sqrt(pow(agentVel[i].x(), 2) + pow(agentVel[i].y(), 2));
// Compute speed vector angle to ball
- a[i] = abs(salt::gRadToDeg(salt::gNormalizeRad(salt::gArcTan2(agentVel[i].y(), agentVel[i].x()) - salt::gArcTan2(ballPos.y()-agentPos[i].y(), ballPos.x()-agentPos[i].x()))));
+ a[i] = abs(salt::gRadToDeg(salt::gNormalizeRad(
+ salt::gArcTan2(agentVel[i].y(), agentVel[i].x()) -
+ salt::gArcTan2(ballPos.y()-agentPos[i].y(), ballPos.x()-agentPos[i].x())
+ )));
// Get agent uniform number and team index
agentUNum[i] = (*agentIt)->GetUniformNumber();
agentTeamIndex[i] = (*agentIt)->GetTeamIndex();
-
- std::cout << "Agent " << agentUNum[i] << " team " << agentTeamIndex[i] << ":\tposition = " << agentPos[i] << "\tvelocity = " << agentVel[i] << std::endl;
+// GetLog()->Debug() << "Agent " << agentUNum[i] << " team "
+// << agentTeamIndex[i] << ":\tposition = " << agentPos[i]
+// << "\tvelocity = " << agentVel[i] << "\n";
+
i++;
}
-
+
// Check if these are opponent agents meaning they have different team indexes
bool haveOpponent = agentTeamIndex[0] != agentTeamIndex[1];
- if (haveOpponent) {
+ if (haveOpponent)
+ {
// Compute speed vector angle to opponent
- for (i = 0; i <= 1; i++) {
- agentAngleOfSpeedVectorToOpponent[i] = abs(salt::gRadToDeg(salt::gNormalizeRad(salt::gArcTan2(agentVel[i].y(), agentVel[i].x()) - salt::gArcTan2(agentPos[1-i].y()-agentPos[i].y(), agentPos[1-i].x()-agentPos[i].x()))));
+ for (i = 0; i <= 1; i++)
+ {
+ agentAngleOfSpeedVectorToOpponent[i] = abs(
+ salt::gRadToDeg(salt::gNormalizeRad(
+ salt::gArcTan2(agentVel[i].y(), agentVel[i].x()) -
+ salt::gArcTan2(agentPos[1-i].y()-agentPos[i].y(),
+ agentPos[1-i].x()-agentPos[i].x()))
+ ));
}
// Compute mutual angle of speed
- m = abs(salt::gRadToDeg(salt::gNormalizeRad(salt::gArcTan2(agentVel[0].y(), agentVel[0].x()) - salt::gArcTan2(agentVel[1].y(), agentVel[1].x()))));
+ m = abs(salt::gRadToDeg(salt::gNormalizeRad(
+ salt::gArcTan2(agentVel[0].y(), agentVel[0].x()) -
+ salt::gArcTan2(agentVel[1].y(), agentVel[1].x())
+ )));
bool agentFoul[2]; // Boolean if an agent had committed a foul
- for (int i = 0; i <= 1; i++) {
+ for (int i = 0; i <= 1; i++)
+ {
// Minimum requirements for a foul
- std::cout << "Agent " << agentUNum[i] << " team " << agentTeamIndex[i] << ":\tspeed = " << s[i] << "\tdist_from_ball = " << d[i] << "\tangle_speed_to_opp = " << agentAngleOfSpeedVectorToOpponent[i] << std::endl;
- agentFoul[i] = s[i] >= mChargingMinSpeed && d[i] >= mChargingMinBallDist && agentAngleOfSpeedVectorToOpponent[i] < mChargingMaxOppSpeedAngle;
+// GetLog()->Debug() << "Agent " << agentUNum[i] << " team "
+// << agentTeamIndex[i] << ":\tspeed = " << s[i]
+// << "\tdist_from_ball = " << d[i]
+// << "\tangle_speed_to_opp = "
+// << agentAngleOfSpeedVectorToOpponent[i]
+// << "\n";
+ agentFoul[i] = s[i] >= mChargingMinSpeed
+ && d[i] >= mChargingMinBallDist
+ && agentAngleOfSpeedVectorToOpponent[i]
+ < mChargingMaxOppSpeedAngle;
}
- if (d[0] < mChargingMinBallDist || d[1] < mChargingMinBallDist) {
+ if (d[0] < mChargingMinBallDist || d[1] < mChargingMinBallDist)
+ {
// Don't call a foul if at least one of the agents is close to the ball
continue;
}
- if (agentFoul[0] && agentFoul[1]) {
+ if (agentFoul[0] && agentFoul[1])
+ {
// Handle case where both agent's are thought to have committed a foul
- std::cout << "m = " << m << std::endl;
- if (m < mChargingIllInterceptMinMutualSpeedAngel) {
+// GetLog()->Debug() << "m = " << m << "\n";
+ if (m < mChargingIllInterceptMinMutualSpeedAngel)
+ {
// Handle foul from player behind case
- salt::Vector3f midpoint = ((agentPos[0]+agentVel[0])+(agentPos[1]+agentVel[1]))/2.0;
+ salt::Vector3f midpoint = ((agentPos[0] + agentVel[0])
+ + (agentPos[1] + agentVel[1])) / 2.0;
float agentDistFromMidpoint[2];
- for (int i = 0; i <= 1; i++) {
- agentDistFromMidpoint[i] = sqrt(pow(agentPos[i].x()-midpoint.x(),2)+pow(agentPos[i].y()-midpoint.y(),2));
- std::cout << "Agent " << agentUNum[i] << " team " << agentTeamIndex[i] << ":\tdistance from midpoint = " << agentDistFromMidpoint[i] << std::endl;
+ for (int i = 0; i <= 1; i++)
+ {
+ agentDistFromMidpoint[i] = sqrt(
+ pow(agentPos[i].x() - midpoint.x(), 2)
+ + pow(agentPos[i].y() - midpoint.y(), 2));
+// GetLog()->Debug() << "Agent " << agentUNum[i]
+// << " team " << agentTeamIndex[i]
+// << ":\tdistance from midpoint = "
+// << agentDistFromMidpoint[i] << "\n";
}
- if (agentDistFromMidpoint[0] < agentDistFromMidpoint[1]) {
+ if (agentDistFromMidpoint[0] < agentDistFromMidpoint[1])
+ {
agentFoul[0] = false;
- } else if (agentDistFromMidpoint[1] < agentDistFromMidpoint[0]) {
+ }
+ else if (agentDistFromMidpoint[1] < agentDistFromMidpoint[0])
+ {
agentFoul[1] = false;
- } else {
+ }
+ else
+ {
// Mutual foul so no call
agentFoul[0] = false;
agentFoul[1] = false;
}
-
- } else {
+ }
+ else
+ {
// Handle illegal interception case
- for (int i = 0; i <= 1; i++) {
- std::cout << "Agent " << agentUNum[i] << " team " << agentTeamIndex[i] << ":\tangle of speed vector to ball = " << a[i] << std::endl;
+// for (int i = 0; i <= 1; i++) {
+// GetLog()->Debug() << "Agent " << agentUNum[i]
+// << " team " << agentTeamIndex[i]
+// << ":\tangle of speed vector to ball = "
+// << a[i] << "\n";
+// }
+
+ if (a[0] < a[1])
+ {
+ agentFoul[0] = false;
}
-
- if (a[0] < a[1]) {
- agentFoul[0] = false;
- } else if (a[1] < a[0]) {
+ else if (a[1] < a[0])
+ {
agentFoul[1] = false;
- } else {
+ }
+ else
+ {
// Mutual foul so no call
agentFoul[0] = false;
agentFoul[1] = false;
}
}
}
-
- for (int i = 0; i <= 1; i++) {
- if (agentFoul[i]) {
+
+ for (int i = 0; i <= 1; i++)
+ {
+ if (agentFoul[i])
+ {
playerFoulTime[agentUNum[i]][agentTeamIndex[i]]++;
playerLastFoul[agentUNum[i]][agentTeamIndex[i]] = FT_Charging;
- std::cout << "FOUL on agent " << agentUNum[i] << " team " << agentTeamIndex[i] << std::endl;
+ GetLog()->Debug() << "FOUL on agent " << agentUNum[i]
+ << " team " << agentTeamIndex[i] << "\n";
// Should we remove fouling player from touch group?
-
+
}
}
-
+
}
}
// END FOUL DETECTION
@@ -1671,7 +1724,6 @@
SoccerBase::GetSoccerVar(*this,"ChargingMinSpeed",mChargingMinSpeed);
SoccerBase::GetSoccerVar(*this,"ChargingMinBallDist",mChargingMinBallDist);
SoccerBase::GetSoccerVar(*this,"IllegalInterceptMinAngle",mChargingIllInterceptMinMutualSpeedAngel);
- SoccerBase::GetSoccerVar(*this,"UseCharging",mUseCharging);
// cout << "MaxInside " << mMaxPlayersInsideOwnArea << endl << endl;
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem.cpp 2013-06-12 15:07:21 UTC (rev 363)
@@ -4,7 +4,7 @@
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: gamestateitem.cpp 259 2011-03-24 20:25:24Z hedayat $
+ $Id$
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
Property changes on: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem.cpp
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem.h 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem.h 2013-06-12 15:07:21 UTC (rev 363)
@@ -4,7 +4,7 @@
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: gamestateitem.h 21 2009-01-14 14:38:57Z yxu $
+ $Id$
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
Property changes on: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem.h
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem_c.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem_c.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem_c.cpp 2013-06-12 15:07:21 UTC (rev 363)
@@ -4,7 +4,7 @@
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: gamestateitem_c.cpp 9 2008-11-24 02:39:02Z hedayat $
+ $Id$
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
Property changes on: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem_c.cpp
___________________________________________________________________
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
Modified: trunk/rcssserver3d/rcssagent3d/naobehavior.cpp
===================================================================
--- trunk/rcssserver3d/rcssagent3d/naobehavior.cpp 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/rcssagent3d/naobehavior.cpp 2013-06-12 15:07:21 UTC (rev 363)
@@ -64,7 +64,7 @@
mJointIDMap["raj4"] = JID_RARM_4;
}
-std::string gJointEff_2_Str[] =
+std::string gJointEff_2_Str[] =
{
"he1",
"he2",
@@ -106,7 +106,7 @@
// use the scene effector to build the agent and beam to a
// position near the center of the playing field
return
- "(scene rsg/agent/nao/nao.rsg)";
+ "(scene rsg/agent/nao/nao_hetero.rsg 0)";
}
void NaoBehavior::ParseHingeJointInfo(const oxygen::Predicate& predicate)
@@ -178,7 +178,7 @@
{
cerr << "(NaoBehavior) could not parse universal joint angle2!" << endl;
return;
- }
+ }
// try to read axis2 rate
// update the map
@@ -193,7 +193,7 @@
double heartime;
string sender;
string message;
-
+
Predicate::Iterator iter(predicate);
if (! predicate.AdvanceValue(iter, heartime))
@@ -202,7 +202,7 @@
return;
}
-
+
if (! predicate.AdvanceValue(iter, sender))
{
cerr << "could not get sender \n";
@@ -226,7 +226,7 @@
<< " me said " << message << " at " << heartime << endl;
}
return;
-
+
}
@@ -264,7 +264,7 @@
const Predicate& predicate = (*iter);
switch(predicate.name[0])
- {
+ {
case 'H': // hinge joint (HJ)
ParseHingeJointInfo(predicate);
break;
@@ -292,10 +292,10 @@
break;
case S_Sit:
- if (mCounter > 40)
- {
- mCounter = 0;
- mState = S_SwingLeft;
+ if (mCounter > 40)
+ {
+ mCounter = 0;
+ mState = S_SwingLeft;
ss << "(lae1 0)"
<< "(rae1 0)"
<< "(lae2 0)"
@@ -326,8 +326,8 @@
<< "(rae3 0)"
<< "(lae4 -0.8)"
<< "(rae4 0.8)"
- << "(lle3 1)"
- << "(rle3 1)"
+ << "(lle3 1)"
+ << "(rle3 1)"
<< "(lle4 -2)"
<< "(rle4 -2)"
<< "(lle5 1)"
@@ -350,7 +350,7 @@
mCounter++;
if (mCounter % 10 == 0) ss << "(say ComeOn!)";
-
+
//std::cout << "Sent: " << ss.str() << "\n";
return ss.str();
}
Modified: trunk/rcssserver3d/rcssserver3d/naorobottypes.rb
===================================================================
--- trunk/rcssserver3d/rcssserver3d/naorobottypes.rb 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/rcssserver3d/naorobottypes.rb 2013-06-12 15:07:21 UTC (rev 363)
@@ -1,8 +1,27 @@
NaoType = [
# Type 0 (Standard Nao)
-{'ThighRelHip2_Z' => -0.04, 'AnkleRelShank_Z' => -0.055, 'lj5_max_abs_speed' => 6.1395, 'lj6_max_abs_speed' => 6.1395, 'ElbowRelUpperArm_Y' => 0.07},
+{
+ 'ThighRelHip2_Z' => -0.04,
+ 'AnkleRelShank_Z' => -0.055,
+ 'lj5_max_abs_speed' => 6.1395,
+ 'lj6_max_abs_speed' => 6.1395,
+ 'ElbowRelUpperArm_Y' => 0.07
+},
# Type 1
-{'ThighRelHip2_Z' => -0.06, 'AnkleRelShank_Z' => -0.075, 'lj5_max_abs_speed' => 6.1395, 'lj6_max_abs_speed' => 6.1395, 'ElbowRelUpperArm_Y' => 0.11},
+{
+ 'ThighRelHip2_Z' => -0.06,
+ 'AnkleRelShank_Z' => -0.075,
+ 'lj5_max_abs_speed' => 6.1395,
+ 'lj6_max_abs_speed' => 6.1395,
+ 'ElbowRelUpperArm_Y' => 0.11
+},
# Type 2
-{'ThighRelHip2_Z' => -0.04, 'AnkleRelShank_Z' => -0.055, 'lj5_max_abs_speed' => 9.21, 'lj6_max_abs_speed' => 4.605, 'ElbowRelUpperArm_Y' => 0.07}
+{
+ 'ThighRelHip2_Z' => -0.04,
+ 'AnkleRelShank_Z' => -0.055,
+ 'lj5_max_abs_speed' => 9.21,
+ 'lj6_max_abs_speed' => 4.605,
+ 'ElbowRelUpperArm_Y' => 0.07
+}
+
]
Modified: trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
===================================================================
--- trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2013-06-12 14:58:36 UTC (rev 362)
+++ trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2013-06-12 15:07:21 UTC (rev 363)
@@ -76,7 +76,11 @@
addSoccerVar('UseOffside', false)
addSoccerVar('MaxTouchGroupSize', 2)
+# charging foul parameters
addSoccerVar('UseCharging', true)
+addSoccerVar('ChargingMinSpeed', 0.2)
+addSoccerVar('ChargingMinBallDist', 0.2)
+addSoccerVar('IllegalInterceptMinAngle', 70)
# auto ref parameters FCP 2010
addSoccerVar('NotStandingMaxTime',30)
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