Re: [Sserver-three-d] exact coordinates for benchmarking

[Oliver O. <fr...@un...>]

Hi Marc,

On Wednesday 26 May 2004 17:36, Marc Halbr=FCgge wrote:

> Is it possible to get exact coordinates of the player and the ball
> (like mypos in version 0.2.1)? This would be useful for the
> evaluation of the localization algorithms.

Like in most cases, the file ~/.rcssserver3d/rcssserver3D.rb is the key=20
to get what you want.

To turn on "mypos" again, do=20

  visionPerceptor.setSenseMyPos(true);

The plugin-based design is also useful to set up two vision perceptors=20
if you want that (like fullstate in the 2D simulator):
You can have one vision perceptor with the usual error, and set up=20
another one with perfect data.

If you look for the lines:

  visionPerceptor =3D new('VisionPerceptor', path+'VisionPerceptor')
  # set to true for debugging. will be set to false during competition
  visionPerceptor.setSenseMyPos(false);

add a second vision perceptor below like this:

  perfectPerceptor =3D new('VisionPerceptor', path+'PerfectPerceptor')
  perfectPerceptor.setSenseMyPos(true);
  perfectPerceptor.addNoise(false);
  perfectPerceptor.setPredicateName("Perfect");

Your agents should get a "(Vision ...)" message now and additionally=20
they get a "(Perfect ...)" message with no error and the mypos info.
By using mypos and the exact distances, you can calculate exact ball and=20
agent positions.=20

cheers
Oliver


=2D-=20
Oliver Obst                     form follows function - Louis Sullivan
AI Research Group              =20
U Koblenz    B219                   https://www.uni-koblenz.de/~fruit/