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Merge branch 'master' of https://github.com/francescoriccio/Matilde
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francescoriccio committed Dec 5, 2013
2 parents b8f0629 + 7a45ea2 commit 195a7dd
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112 changes: 112 additions & 0 deletions machineLearning/ConfigurationParameters.h
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#pragma once

#include <string>

namespace SPQR
{
/************ GAME CONTROLLER ************/
static const std::string IP_GOALIE = "10.0.19.14";
static const int CHEST_BUTTON_MANUAL_GAME_CONTROLLER_PORT = 18003;
static const int FIELD_DIMENSION_X = 3000;
static const int FIELD_DIMENSION_Y = 2000;

static const unsigned int POLICY = 0; ///{STABLE ="0", S_POSITIONIG_X ="1", S_POSITIONIG_XY ="2", WALL ="3", TANK ="4", STATIC_POSITIONG="5"};
static const unsigned int STRATEGY = 0; ///{DRIBBLING ="0", PASSING ="1"};

static const float TURN_VALID_THS = 10; /// degree
static const float TURN_EXCESS = 10;

static const int COORDINATION_PORT_NUMBER = 11937;
static const int MAXIMUM_DISTANCE_BALL_VIEWED = 6000;
static const int MAXIMUM_DISTANCE_ON_THE_FIELD = 11000;
static const unsigned int TABLE_ROWS = 5; /// TABLE_ROWS also equals to the number of roles.
static const unsigned int ACTIVE_ROLES = 5; /// Active roles (including the goalie) => max 5 (goalie, defender, supporter, jolly, striker)
static const unsigned int TABLE_COLUMNS = ACTIVE_ROLES+4;
static const unsigned int DEAD_ROBOT_TIME_THRESHOLD = 5000;
static const unsigned int HYSTERESIS_PERIOD_IN_CYCLES = 100;
static const unsigned int COORDINATION_INFORMATION_NETWORK_FREQUENCY = 10; /// FREQUENCY!
static const unsigned int FALL_DOWN_PENALTY = 200;
static const unsigned int TIME_TO_GET_UP = 10000;
static const unsigned int MOVING_BALL_MIN_VELOCITY = 10; /// [mm/s]
static const unsigned int SUPPORTER_MIN_TIME_WHEN_LAST_SEEN = 500; /// [ms]
static const unsigned int DEFENDER_MIN_TIME_WHEN_LAST_SEEN = 500; /// [ms]
static const unsigned int JOLLY_MIN_TIME_WHEN_LAST_SEEN = 500; /// [ms]
static const int MINIMUM_PASSING_DISTANCE = 1000; /// [mm]
static const int HYSTERESIS_BOUND_DISTANCE = 300; /// [mm]

static const float DEFENDER_KICKOFF_DEFAULT_POSITION_X = -0.55 * FIELD_DIMENSION_X;
static const float DEFENDER_KICKOFF_DEFAULT_POSITION_Y = 0.13 * FIELD_DIMENSION_Y;
static const float DEFENDER_NO_KICKOFF_DEFAULT_POSITION_X = -0.55 * FIELD_DIMENSION_X;
static const float DEFENDER_NO_KICKOFF_DEFAULT_POSITION_Y = 0.13 * FIELD_DIMENSION_Y;

static const float SUPPORTER_KICKOFF_DEFAULT_POSITION_X = -0.27 * FIELD_DIMENSION_X;
static const float SUPPORTER_KICKOFF_DEFAULT_POSITION_Y = 0.33 * FIELD_DIMENSION_Y;
static const float SUPPORTER_NO_KICKOFF_DEFAULT_POSITION_X = -0.27 * FIELD_DIMENSION_X;
static const float SUPPORTER_NO_KICKOFF_DEFAULT_POSITION_Y = 0.33 * FIELD_DIMENSION_Y;

static const float JOLLY_KICKOFF_DEFAULT_POSITION_X = -0.27 * FIELD_DIMENSION_X;
static const float JOLLY_KICKOFF_DEFAULT_POSITION_Y = -0.33 * FIELD_DIMENSION_Y;
static const float JOLLY_NO_KICKOFF_DEFAULT_POSITION_X = -0.27 * FIELD_DIMENSION_X;
static const float JOLLY_NO_KICKOFF_DEFAULT_POSITION_Y = -0.33 * FIELD_DIMENSION_Y;

static const float STRIKER_KICKOFF_POSITION_X = -220.0;
static const float STRIKER_KICKOFF_POSITION_Y = 0.0;
static const float STRIKER_NO_KICKOFF_POSITION_X = -1200.0;
static const float STRIKER_NO_KICKOFF_POSITION_Y = 0.0;

static const float SPEED_X = 0.6;
static const float SPEED_Y = 0.6;
static const float HEAD_ROTATION = 8.0;
static const float TIME_BEFORE_STARTING_TO_COORD_SEARCH = 7000.0;

/************ WALL ************/
static const float DEFENDER_KICKOFF_WALL_POSITION_X = -0.75 * FIELD_DIMENSION_X;
static const float DEFENDER_KICKOFF_WALL_POSITION_Y = 0.16 * FIELD_DIMENSION_Y;
static const float SUPPORTER_KICKOFF_WALL_POSITION_X = -0.75 * FIELD_DIMENSION_X;
static const float SUPPORTER_KICKOFF_WALL_POSITION_Y = 0.45 * FIELD_DIMENSION_Y;
static const float JOLLY_KICKOFF_WALL_POSITION_X = -0.75 * FIELD_DIMENSION_X;
static const float JOLLY_KICKOFF_WALL_POSITION_Y = -0.30 * FIELD_DIMENSION_Y;

/************ NO BALL ************/
static const float DEFENDER_KICKOFF_NO_BALL_POSITION_X = -0.75 * FIELD_DIMENSION_X;
static const float DEFENDER_KICKOFF_NO_BALL_POSITION_Y = 0.75 * FIELD_DIMENSION_Y;
static const float SUPPORTER_KICKOFF_NO_BALL_POSITION_X = -0.75 * FIELD_DIMENSION_X;
static const float SUPPORTER_KICKOFF_NO_BALL_POSITION_Y = -0.75 * FIELD_DIMENSION_Y;
static const float JOLLY_KICKOFF_NO_BALL_POSITION_X = 0.75 * FIELD_DIMENSION_X;
static const float JOLLY_KICKOFF_NO_BALL_POSITION_Y = -0.50 * FIELD_DIMENSION_Y;

/************ GOALIE ************/
static const float GOALIE_BASE_POSITION_X = -FIELD_DIMENSION_X + 250; /// [mm] //TODO take this from theFieldDimensions
static const float GOALIE_BASE_POSITION_Y = 0; /// [mm]
static const float GOALIE_BASE_POSITION_BEARING = 0; /// [mm]

static const int GOALIE_LEARNING_STATE = 3; /// 1 = learning disabled, 3 = learning enabled

static const float GOALIE_DIVE_TIME = 3000;
static const float GOALIE_DIVE_RECOVER_TIME = 3000;
static const float GOALIE_DIVE_REPOSITION_TIME = 3000;

static const float GOALIE_CLOSE_DIVE_TIME = 1500;
static const float GOALIE_CLOSE_DIVE_RECOVER_TIME = 1500;

static const float GOALIE_STOP_BALL_TIME = 2000;
static const float GOALIE_STOP_BALL_RECOVER_TIME = 2000;

static const float GOALIE_POSE_X_TOLLERANCE = 150; /// [mm]
static const float GOALIE_POSE_Y_TOLLERANCE = 150; /// [mm]
static const float GOALIE_POSE_ANGLE_TOLLERANCE = 10; /// [deg]
static const float GOALIE_POSE_X_TOLLERANCE_AFTER_DIVE = 150; /// [mm]
static const float GOALIE_POSE_Y_TOLLERANCE_AFTER_DIVE = 150; /// [mm]

static const float GOALIE_DIVE_TIME_TOLERANCE = 100; /// [ms]

static const float GOALIE_MOVING_BALL_MIN_VELOCITY = 10; /// [mm/s]
static const float GOALIE_EPSILON_COLLINEAR = 0.001; /// [??]
static const float GOALIE_FAR_LIMIT_Y = 800; /// a little more than goal post //TODO take this from FieldDimensions
static const float GOALIE_CLOSE_LIMIT_Y = 200; /// dont-dive distance //TODO take this from FieldDimensions
static const unsigned int GOALIE_MIN_TIME_WHEN_LAST_SEEN = 500; /// [ms]
static const float GOALIE_MIN_BALL_DIST_FROM_POST = 500;

static const float GOALIE_MAX_DIST_BALL_IN_RANGE_ABS = 500; /// [mm]
}

35 changes: 20 additions & 15 deletions machineLearning/DiveHandle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -9,14 +9,15 @@ class DiveHandle : public Streamable
* @param in streaming in ...
* @param out ... streaming out.
*/
void serialize(In* in, Out* out)
{
STREAM_REGISTER_BEGIN;
STREAM(diveTime);
STREAM(ballProjectionEstimate);
STREAM(diveType);
STREAM_REGISTER_FINISH;
}
void serialize(In* in, Out* out)
{
STREAM_REGISTER_BEGIN;
STREAM(diveTime);
STREAM(ballProjectionEstimate);
STREAM(diveType);
STREAM(rewardAck);
STREAM_REGISTER_FINISH;
}

public:
enum Dive
Expand All @@ -25,15 +26,19 @@ class DiveHandle : public Streamable
lDive,
rDive,
lcloseDive,
rcloseDive
rcloseDive,
stopBall
};

typedef int Dive;

float diveTime;
float ballProjectionEstimate;
Dive diveType;

/** Constructor */
DiveHandle() : diveTime(-1.0), ballProjectionEstimate(0.0), diveType(none) {;}
float diveTime;
float ballProjectionEstimate;
Dive diveType;

bool rewardAck;

/** Constructor */
DiveHandle() : diveTime(-1.0), ballProjectionEstimate(0.0),
diveType(none),rewardAck(false) {;}
};
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