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attacker fix && rewards print
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@francescoriccio
francescoriccio committed Dec 2, 2013
1 parent 69bd2d7 commit 189b02f
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Showing 3 changed files with 50 additions and 32 deletions.
58 changes: 36 additions & 22 deletions machineLearning/InvAttackerPNP.h → machineLearning/AttackerPNP.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,9 +3,9 @@
#include <Utils/Utils.h>

// Uncomment if you want to have debug information.
//#define DEBUG_BEHAVIOR
#define DEBUG_BEHAVIOR

#define MIN_DIST_TO_BALL 150
#define MIN_DIST_TO_BALL 200

using namespace PTracking;
using namespace SPQR;
Expand All @@ -16,7 +16,7 @@ option AttackerPNP

bool isLeftFoot()
{
if(theBallModel.estimate.position.y > -0.5) return true;
if(theBallModel.estimate.position.y > 0) return true;
else return false;
}

Expand All @@ -33,7 +33,7 @@ option AttackerPNP
bool alignedTowardGoal()
{
Vector2 <float> goal_position = (theFreePartOfOpponentGoalModel.leftEnd + theFreePartOfOpponentGoalModel.rightEnd) / 2;
double goal_angle = atan2(-goal_position.y, -goal_position.x);
double goal_angle = atan2(goal_position.y,goal_position.x);

if (fabs( goal_angle ) < deg2rad(3)) return true;
else return false;
Expand Down Expand Up @@ -80,7 +80,7 @@ option AttackerPNP
theMotionRequest.walkRequest.mode = WalkRequest::targetMode;
theMotionRequest.walkRequest.target.translation.x = 0;
theMotionRequest.walkRequest.target.translation.y = 0;
theMotionRequest.walkRequest.target.rotation = theBallModel.estimate.position.y < 0 ? -M_PI : M_PI;
theMotionRequest.walkRequest.target.rotation = theBallModel.estimate.velocity.y < 0 ? -M_PI : M_PI;
theMotionRequest.walkRequest.speed.translation.x = 0;
theMotionRequest.walkRequest.speed.translation.y = 0;
theMotionRequest.walkRequest.speed.rotation = 1;
Expand Down Expand Up @@ -130,7 +130,7 @@ option AttackerPNP
action
{
position = (theFreePartOfOpponentGoalModel.leftEnd + theFreePartOfOpponentGoalModel.rightEnd) / 2;
angle = atan2(-position.y, -position.x);
angle = atan2(position.y,position.x);

theMotionRequest.walkRequest.mode = WalkRequest::targetMode;
theMotionRequest.walkRequest.target.translation.x = theBallModel.estimate.position.x - 150;
Expand All @@ -153,8 +153,10 @@ option AttackerPNP
stateName = "Kick";
#endif

if (theFrameInfo.time - theBallModel.timeWhenLastSeen > 2000) return FindBall;
if (stateTime > 2000) return ApproachBall;
if (theFrameInfo.time - theBallModel.timeWhenLastSeen > 1000) return FindBall;

if (stateTime > 2000) return ApproachBall;
else if( norm(theBallModel.estimate.position.x, theBallModel.estimate.position.y) < MIN_DIST_TO_BALL ) return LookYourFeet;
}
action
{
Expand All @@ -171,23 +173,36 @@ option AttackerPNP
stateName = "ApproachBall";
#endif

if (theFrameInfo.time - theBallModel.timeWhenLastSeen > 2000) return FindBall;
if (theFrameInfo.time - theBallModel.timeWhenLastSeen > 1000) return FindBall;

if( norm(theBallModel.estimate.position.x, theBallModel.estimate.position.y) < MIN_DIST_TO_BALL ) return LookYourFeet;

}
action
{
theMotionRequest.walkRequest.mode = WalkRequest::targetMode;
theMotionRequest.walkRequest.target.translation.x = theBallModel.estimate.position.x;
theMotionRequest.walkRequest.target.translation.y = theBallModel.estimate.position.y;
theMotionRequest.walkRequest.target.rotation = atan2(theBallModel.estimate.position.y,theBallModel.estimate.position.x);
theMotionRequest.walkRequest.speed.translation.x = SPQR::SPEED_X;
theMotionRequest.walkRequest.speed.translation.y = SPQR::SPEED_Y;
theMotionRequest.walkRequest.speed.rotation = 1;
theMotionRequest.motion = MotionRequest::walk;

LookAtBall();
theMotionRequest.walkRequest.mode = WalkRequest::targetMode;
theMotionRequest.walkRequest.target.translation.x = theBallModel.estimate.position.x;

if( isLeftFoot() )
{
theMotionRequest.walkRequest.target.translation.y = theBallModel.estimate.position.y - 50.0;
theMotionRequest.walkRequest.target.rotation = atan2(theBallModel.estimate.position.y - 50.0,theBallModel.estimate.position.x);
}
else
{
theMotionRequest.walkRequest.target.translation.y = theBallModel.estimate.position.y + 50.0;
theMotionRequest.walkRequest.target.rotation = atan2(theBallModel.estimate.position.y + 50.0,theBallModel.estimate.position.x);
}

// theMotionRequest.walkRequest.target.translation.y = theBallModel.estimate.position.y;

theMotionRequest.walkRequest.target.rotation = atan2(theBallModel.estimate.position.y,theBallModel.estimate.position.x);
theMotionRequest.walkRequest.speed.translation.x = SPQR::SPEED_X;
theMotionRequest.walkRequest.speed.translation.y = SPQR::SPEED_Y;
theMotionRequest.walkRequest.speed.rotation = 1;
theMotionRequest.motion = MotionRequest::walk;

LookAtBall();
}
}

Expand All @@ -198,7 +213,7 @@ option AttackerPNP
#ifdef DEBUG_BEHAVIOR
stateName = "MoveAroundBall";
#endif
if (theFrameInfo.time - theBallModel.timeWhenLastSeen > 2000) return FindBall;
if (theFrameInfo.time - theBallModel.timeWhenLastSeen > 2000) return FindBall;

if( norm(theBallModel.estimate.position.x, theBallModel.estimate.position.y) > MIN_DIST_TO_BALL ) return ApproachBall;
else
Expand All @@ -207,13 +222,12 @@ option AttackerPNP
else if(fabs(angle) < Utils::deg2rad(TURN_VALID_THS) &&
fabs(theBallModel.estimate.position.y) < 100 &&
fabs(theBallModel.estimate.position.x) < 350) return AlignTowardGoal;
else return Kick;
}
}
action
{
position = (theFreePartOfOpponentGoalModel.leftEnd + theFreePartOfOpponentGoalModel.rightEnd) / 2;
angle = atan2(-position.y, -position.x);
angle = atan2(position.y,position.x);

theMotionRequest.walkRequest.mode = WalkRequest::targetMode;
theMotionRequest.walkRequest.target.translation.x = theBallModel.estimate.position.x - MIN_DIST_TO_BALL;
Expand Down
20 changes: 12 additions & 8 deletions machineLearning/DiveHandler/DiveHandler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,8 @@
#include "DiveHandler.h"

// Uncomment to have debug information
#define DIVEHANDLER_DEBUG
#define DIVEHANDLER_TRAINING
//#define DIVEHANDLER_DEBUG
//#define DIVEHANDLER_TRAINING
//#define RAND_PERMUTATIONS

#define NEGATIVE_REWARD -1.0
Expand Down Expand Up @@ -541,7 +541,7 @@ void DiveHandler::update(DiveHandle& diveHandle)
if (theRobotInfo.number == 1)
{
// Check if the goalie is currently performing a dive
if( (diveHandle.diveTime >= 0.0) && (diveHandle.diveTime < SPQR::GOALIE_DIVE_TIME_TOLERANCE) )
if( /*(diveHandle.diveTime >= 0.0) &&*/ (diveHandle.diveTime < SPQR::GOALIE_DIVE_TIME_TOLERANCE) )
dived = true;

// Compute the ball projection estimate
Expand Down Expand Up @@ -573,6 +573,7 @@ void DiveHandler::update(DiveHandle& diveHandle)
state = waitReward;
// Flag a pending reward to the goalie behavior
diveHandle.rewardAck = false;
SPQR_ERR("waiting reward");
}
else
// The algorithm has converged: turning off learning
Expand Down Expand Up @@ -600,11 +601,12 @@ void DiveHandler::update(DiveHandle& diveHandle)
// A reward has been received: re-enable learning
state = learning;
// Clear the pending reward
if (!diveHandle.rewardAck)
if(!diveHandle.rewardAck)
diveHandle.rewardAck = true;
SPQR_SUCCESS("reward accepted");

// Since the opponent team scored, the dive action should be done
if (dived) dived = false;
if(dived) dived = false;
}
// The goalie has performed a dive and yet the outcome is unknown
else if(dived && (theFrameInfo.time - theBallModel.timeWhenLastSeen) < 500)
Expand All @@ -624,8 +626,9 @@ void DiveHandler::update(DiveHandle& diveHandle)
// A reward has been received: re-enable learning
state = learning;
// Clear the pending reward
if (!diveHandle.rewardAck)
if(!diveHandle.rewardAck)
diveHandle.rewardAck = true;
SPQR_SUCCESS("reward accepted");

// Since the outcome is known, the dive action is done
dived = false;
Expand All @@ -650,8 +653,9 @@ void DiveHandler::update(DiveHandle& diveHandle)
// A reward has been received: re-enable learning
state = learning;
// Clear the pending reward
if (!diveHandle.rewardAck)
if(!diveHandle.rewardAck)
diveHandle.rewardAck = true;
SPQR_SUCCESS("reward accepted");

// Since the outcome is known, the dive action is done
dived = false;
Expand Down Expand Up @@ -681,7 +685,7 @@ void DiveHandler::update(DiveHandle& diveHandle)
#ifdef DIVEHANDLER_TRAINING
if (diveTime > 0.0)
{
if (diveHandle.diveTime < SPQR::GOALIE_DIVE_TIME_TOLERANCE)
if(diveHandle.diveTime < SPQR::GOALIE_DIVE_TIME_TOLERANCE)
SPQR_INFO("Dive now! ");
}
#endif
Expand Down
4 changes: 2 additions & 2 deletions machineLearning/GoalieLearner.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
// Uncomment if you want to have debug information
#define GOALIE_DEBUG_MODE

option GoalieLearningBehavior
option GoalieLearner
{
private:

Expand Down Expand Up @@ -297,7 +297,7 @@ option GoalieLearningBehavior
{
decision
{
if(theDiveHandle.rewardAck) return main_loop;
if(theDiveHandle.rewardAck && ballIsSeen()) return main_loop;
}
action
{
Expand Down

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