Merge pull request #98 from RoboTeamTwente/update/pass-defender

[roboteam_ai] Change of tactics
RoboTeamTwente · Jan 9, 2024 · 57a6ceb · 57a6ceb
2 parents f470587 + 886fd93
commit 57a6ceb
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diff --git a/docs/Ball.md b/docs/Ball.md
@@ -13,16 +13,12 @@ serves the purpose of representing the ball. Things like position and velocity a
 
 `expectedEndPosition` -> End position that we _think_ the ball will lay at when it comes to a stop.
 
-`filteredVelocity` -> Velocity but adjusted to match up with physics n stuff, it's used to determine a more realistic end position.
-
 ## Functions ## 
 
 `initializeCalculations` -> Calls the 4 calculation methods.
 
 `initBallAtRobotPosition` -> If there is no position for the ball we look at the robot ball sensors for this.
 
-`filterBallVelocity` -> Sets `filteredVelocity`
-
 `updateExpectedBallEndPosition` -> Sets `expectedEndPosition`.
 
 `updateBallAtRobotPosition` -> Updates `expectedEndPosition` and draws to the interface.
@@ -35,8 +31,6 @@ serves the purpose of representing the ball. Things like position and velocity a
 
 `getExpectedEndPositionBall` -> Returns `expectedEndPosition` 
 
-`getFilteredVelocity` -> Returns `filteredVelocity`
-
 `Ball(proto::WorldBall, World*)` -> Constructs a ball from a proto message + the world data.
 
 ## Advice ##

diff --git a/docs/Robot.md b/docs/Robot.md
@@ -17,8 +17,6 @@ The enum Team in [team.hpp](https://github.com/RoboTeamTwente/roboteam_ai/blob/d
 
 `angle` -> Current angle of the robot
 
-`pidPreviousVel` -> The previous pid velocity.
-
 `distanceToBall` -> Distance from the robot to the ball
 
 `angleDiffToBall` -> Angle offset between the kicker and the ball.
@@ -27,19 +25,13 @@ The enum Team in [team.hpp](https://github.com/RoboTeamTwente/roboteam_ai/blob/d
 
 `batteryLow` -> Flag that indicates whether the battery of the robot is low.
 
-`dribblerState` -> State of the dribbler, essentially the number indicates how fast it goes.
-
-`previousDribblerState` -> State of dribbler in the previous tick, dito.
-
-`timeDribblerChanged` -> The time at which the state of the dribbler changed.
-
-`timeToChangeOneDribblerLevel` -> The time which it takes to change from for example 0 to 1 for the dribbler.
-
 `workingDribbler` -> True if dribbler works, false if not.
 
 `workingBallSensor` -> Dito but for sensor.
 
-`seesBall` -> True if the ball sensor picks up the ball, false if not.
+`BallSensorSeesBall` -> True if the ball sensor picks up the ball, false if not.
+
+`DribblerSeesBall` -> True if the dribbler picks up the ball, false if not.
 
 `ballPos` -> Position of the ball (if seesBall == true)
 

diff --git a/format.sh b/format.sh
@@ -1 +1 @@
-find -L | grep -E "^./roboteam.*?\.(c|cpp|h|hpp)$" --color=never | xargs clang-format -i -style="{BasedOnStyle : Google, IndentWidth : 4, ColumnLimit : 180}"
+find -L . -not -path "./roboteam_autoref/*" -not -path "./roboteam_robothub/roboteam_embedded_messages/*" | grep -E "^./roboteam.*?\.(c|cpp|h|hpp)$" --color=never | xargs clang-format -i -style="{BasedOnStyle : Google, IndentWidth : 4, ColumnLimit : 180}"
diff --git a/roboteam_ai/CMakeLists.txt b/roboteam_ai/CMakeLists.txt
@@ -61,9 +61,7 @@ add_library(roboteam_ai_tactics
         ${PROJECT_SOURCE_DIR}/src/stp/tactics/active/OrbitKick.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/tactics/active/Receive.cpp
         # passive/
-        ${PROJECT_SOURCE_DIR}/src/stp/tactics/passive/AvoidBall.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/tactics/passive/BlockBall.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/tactics/passive/BlockRobot.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/tactics/passive/Formation.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/tactics/passive/Halt.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/tactics/passive/BallStandBack.cpp)
@@ -84,7 +82,7 @@ add_library(roboteam_ai_roles
         ${PROJECT_SOURCE_DIR}/src/stp/roles/Keeper.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/roles/PenaltyKeeper.cpp
         # active
-        ${PROJECT_SOURCE_DIR}/src/stp/roles/active/Attacker.cpp
+        ${PROJECT_SOURCE_DIR}/src/stp/roles/active/Striker.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/roles/active/Harasser.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/roles/active/BallPlacer.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/roles/active/FreeKickTaker.cpp
@@ -94,11 +92,9 @@ add_library(roboteam_ai_roles
         ${PROJECT_SOURCE_DIR}/src/stp/roles/active/PassReceiver.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/roles/active/PenaltyTaker.cpp
         # passive
-        ${PROJECT_SOURCE_DIR}/src/stp/roles/passive/BallAvoider.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/roles/passive/BallDefender.cpp
+        ${PROJECT_SOURCE_DIR}/src/stp/roles/passive/Defender.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/roles/passive/Formation.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/roles/passive/Halt.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/roles/passive/RobotDefender.cpp
 )
 target_include_directories(roboteam_ai_roles
         PRIVATE include/roboteam_ai
@@ -139,7 +135,6 @@ add_library(roboteam_ai_plays
         ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/PenaltyThemPrepare.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/PenaltyUs.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/PenaltyUsPrepare.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/FormationPreHalf.cpp
 )
 target_include_directories(roboteam_ai_plays
         PRIVATE include/roboteam_ai
@@ -156,26 +151,13 @@ target_compile_options(roboteam_ai_plays PRIVATE "${COMPILER_FLAGS}")
 ###### EVALUATION #######
 add_library(roboteam_ai_evaluation
         ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/WeHaveBallGlobalEvaluation.cpp
+        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/WeDoNotHaveBallGlobalEvaluation.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/TheyHaveBallGlobalEvaluation.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/TheyDoNotHaveBallGlobalEvaluation.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/BallGotShotGlobalEvaluation.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/BallMovesSlowGlobalEvaluation.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/BallOnOurSideGlobalEvaluation.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/BallOnTheirSideGlobalEvaluation.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/BallInOurDefenseAreaAndStillGlobalEvaluation.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/BallNotInOurDefenseAreaAndStillGlobalEvaluation.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/FreedomOfRobotsGlobalEvaluation.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/BallCloseToUsGlobalEvaluation.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/BallCloseToThemGlobalEvaluation.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/DistanceFromBallGlobalEvaluation.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/WeHaveMajorityGlobalEvaluation.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/GoalVisionGlobalEvaluation.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/GoalVisionFromBallGlobalEvaluation.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/BallIsFreeGlobalEvaluation.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/TheyHaveBallGlobalEvaluation.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/TheyDoNotHaveBallGlobalEvaluation.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/NoGoalVisionFromBallGlobalEvaluation.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/BallClosestToUsGlobalEvaluation.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/BallPlacementUsGameStateEvaluation.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/BallPlacementThemGameStateEvaluation.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/HaltGameStateEvaluation.cpp
@@ -197,7 +179,6 @@ add_library(roboteam_ai_evaluation
         ${PROJECT_SOURCE_DIR}/src/stp/evaluations/position/OpennessEvaluation.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/evaluations/position/LineOfSightEvaluation.cpp
         ${PROJECT_SOURCE_DIR}/src/stp/evaluations/position/GoalShotEvaluation.cpp
-        ${PROJECT_SOURCE_DIR}/src/stp/evaluations/position/BlockingEvaluation.cpp
 )
 target_include_directories(roboteam_ai_evaluation
         PRIVATE include/roboteam_ai

diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/WorldObjects.h b/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/WorldObjects.h
@@ -70,10 +70,11 @@ class WorldObjects {
      * @param field Used for information about the field
      * @param collisionDatas std::vector which rtt::BB::CollisionData can be added to
      * @param pathPoints std::vector with path points
-     * @param robotId ID of the robot
      * @param timeStep Time between pathpoints
+     * @param completedTimeSteps Number of completed time steps
      */
-    void calculateFieldCollisions(const rtt::Field &field, std::vector<CollisionData> &collisionDatas, const std::vector<Vector2> &pathPoints, int robotId, double timeStep);
+    void calculateFieldCollisions(const rtt::Field &field, std::vector<CollisionData> &collisionDatas, const std::vector<Vector2> &pathPoints, double timeStep,
+                                  size_t completedTimeSteps);
 
     /**
      * @brief Takes a calculated path and checks points along the path if they are inside the defensearea if
@@ -83,8 +84,10 @@ class WorldObjects {
      * @param pathPoints std::vector with path points
      * @param robotId ID of the robot
      * @param timeStep Time between pathpoints
+     * @param completedTimeSteps Number of completed time steps
      */
-    void calculateDefenseAreaCollisions(const rtt::Field &field, std::vector<CollisionData> &collisionDatas, const std::vector<Vector2> &pathPoints, int robotId, double timeStep);
+    void calculateDefenseAreaCollisions(const rtt::Field &field, std::vector<CollisionData> &collisionDatas, const std::vector<Vector2> &pathPoints, int robotId, double timeStep,
+                                        size_t completedTimeSteps);
 
     /**
      * @brief Takes a calculated path of a robot and checks points along the path if they are too close to an
@@ -94,22 +97,24 @@ class WorldObjects {
      * @param collisionDatas std::vector which rtt::BB::CollisionData can be added to
      * @param pathPoints std::vector with path points
      * @param timeStep Time between pathpoints
+     * @param dist Distance to the ball
+     * @param completedTimeSteps Number of completed time steps
      */
-    void calculateBallCollisions(const rtt::world::World *world, std::vector<CollisionData> &collisionDatas, std::vector<Vector2> pathPoints, double timeStep, double dist);
+    void calculateBallCollisions(const rtt::world::World *world, std::vector<CollisionData> &collisionDatas, std::vector<Vector2> pathPoints, double timeStep, double dist,
+                                 size_t completedTimeSteps);
 
     /**
      * @brief Takes a calculated path of a robot and checks points along the path if they are too close to an
      * approximation of the enemy robot paths. Adds these points and the time to collisionDatas and collisionTimes if
      * the difference in velocity between the two robots is more than 1.5 ms/s and we are driving faster
      * @param world Used for information about the enemy robots
-     * @param BBTrajectory BBTrajectory which is used for getting the velocity of the robot
      * @param collisionDatas std::vector which rtt::BB::CollisionData can be added to
      * @param pathPoints std::vector with path points
      * @param timeStep Time between pathpoints
-     * @param timeStepsDone Amount of seconds of the trajectory already completed by the robot
+     * @param completedTimeSteps Amount of seconds of the trajectory already completed by the robot
      */
-    void calculateEnemyRobotCollisions(const rtt::world::World *world, rtt::Trajectory2D Trajectory, std::vector<CollisionData> &collisionDatas,
-                                       const std::vector<Vector2> &pathPoints, double timeStep, size_t timeStepsDone);
+    void calculateEnemyRobotCollisions(const rtt::world::World *world, std::vector<CollisionData> &collisionDatas, const std::vector<Vector2> &pathPoints, double timeStep,
+                                       size_t completedTimeSteps);
 
     /**
      * @brief Takes a path from the array of stored paths and checks points along the path if they are too close to
@@ -121,10 +126,10 @@ class WorldObjects {
      * @param computedPaths The paths of our own robots
      * @param robotId ID of the robot
      * @param timeStep Time between pathpoints
-     * @param timeStepsDone how many seconds of the trajectory is already completed by the robot
+     * @param completedTimeSteps how many seconds of the trajectory is already completed by the robot
      */
     void calculateOurRobotCollisions(const rtt::world::World *world, std::vector<CollisionData> &collisionDatas, const std::vector<Vector2> &pathPoints,
-                                     const std::unordered_map<int, std::vector<Vector2>> &computedPaths, int robotId, double timeStep, size_t timeStepsDone);
+                                     const std::unordered_map<int, std::vector<Vector2>> &computedPaths, int robotId, double timeStep, size_t completedTimeSteps);
 
     /**
      * @brief Inserts collisionData in the vector collisionDatas such that they are ordered from lowest collisionTime to highest

diff --git a/roboteam_ai/include/roboteam_ai/stp/Play.hpp b/roboteam_ai/include/roboteam_ai/stp/Play.hpp
@@ -138,8 +138,6 @@ class Play {
      */
     virtual bool shouldEndPlay() noexcept;
 
-    std::optional<gen::PlayInfos> previousPlayInfos; /**< Map that holds info from the previous play */
-
    private:
     /**
      * @brief This function refreshes the RobotViews, BallViews, and Fields for all StpInfo's. This also sets the maxRobotVelocity.
@@ -160,7 +158,8 @@ class Play {
 
     size_t previousRobotNum{}; /**< The previous amount of robots. This is used to check if we need to re-deal (if a robot disappears for example) */
 
-    int previousKeeperId = -1; /**< The previous keeperId. This is used to check if we need to re-deal (if keeper id was changed from UI or GameController) */
+    int previousKeeperId = -1;  /**< The previous keeperId. This is used to check if we need to re-deal (if keeper id was changed from UI or GameController) */
+    int previousMaxRobots = -1; /**< The previous maxRobots. This is used to check if we need to re-deal */
 };
 }  // namespace rtt::ai::stp
 

diff --git a/roboteam_ai/include/roboteam_ai/stp/PlayEvaluator.h b/roboteam_ai/include/roboteam_ai/stp/PlayEvaluator.h
@@ -33,27 +33,15 @@ enum class GlobalEvaluation {
     PenaltyUsGameState,
     PenaltyUsPrepareGameState,
     StopGameState,
-    PreHalfGameState,
     /// Global Evaluations
-    BallCloseToThem,
-    BallCloseToUs,
-    BallClosestToUs,
-    BallGotShot,
-    BallIsFree,
-    BallMovesSlow,
     BallOnOurSide,
     BallOnTheirSide,
     BallInOurDefenseAreaAndStill,
     BallNotInOurDefenseAreaAndStill,
-    DistanceFromBall,
-    FreedomOfRobots,
-    GoalVisionFromBall,
-    GoalVision,
-    NoGoalVisionFromBall,
     WeHaveBall,
+    WeDoNotHaveBall,
     TheyHaveBall,
     TheyDoNotHaveBall,
-    WeHaveMajority
 };
 
 /**

diff --git a/roboteam_ai/include/roboteam_ai/stp/StpInfo.h b/roboteam_ai/include/roboteam_ai/stp/StpInfo.h
@@ -47,6 +47,9 @@ struct StpInfo {
     const std::optional<Vector2>& getPositionToDefend() const { return positionToDefend; }
     void setPositionToDefend(const std::optional<Vector2>& position) { this->positionToDefend = position; }
 
+    const Vector2& getTargetLocationSpeed() const { return targetLocationSpeed; }
+    void setTargetLocationSpeed(const Vector2& speed) { this->targetLocationSpeed = speed; }
+
     double getKickChipVelocity() const { return kickChipVelocity; }
     void setKickChipVelocity(double kickChipVelocity) { this->kickChipVelocity = kickChipVelocity; }
 
@@ -132,6 +135,11 @@ struct StpInfo {
      */
     std::optional<Vector2> positionToDefend;
 
+    /**
+     * Speed of the target location (e.g. speed of the robot or speed of the ball)
+     */
+    Vector2 targetLocationSpeed = Vector2(0, 0);
+
     /**
      * Velocity of the kick/chip
      */

diff --git a/roboteam_ai/include/roboteam_ai/stp/computations/ComputationManager.h b/roboteam_ai/include/roboteam_ai/stp/computations/ComputationManager.h
@@ -25,6 +25,7 @@ class ComputationManager {
 
     inline static std::unordered_map<Vector2, gen::PositionScores> calculatedScores{}; /**< vector of calculated position scores */
     inline static std::vector<Vector2> calculatedWallPositions{};                      /**< vector of determined wall positions */
+    inline static std::vector<int> calculatedEnemyMapIds{};                            /**< vector of enemyMap id */
 };
 }  // namespace rtt::ai::stp
 

diff --git a/roboteam_ai/include/roboteam_ai/stp/computations/PassComputations.h b/roboteam_ai/include/roboteam_ai/stp/computations/PassComputations.h
@@ -45,15 +45,6 @@ class PassComputations {
      */
     static PassInfo calculatePass(gen::ScoreProfile profile, const world::World* world, const Field& field, bool keeperCanPass = false);
 
-    /**
-     * @brief Scores a given pass based on how likely it is to score from the passLocation, adjusted for the riskiness of the pass
-     * @param passInfo The passInfo of the pass to be scored
-     * @param world pointer to world
-     * @param field the current field
-     * @return the score of the pass (0 - 255)
-     */
-    static uint8_t scorePass(PassInfo passInfo, const world::World* world, const rtt::Field& field);
-
    private:
     /**
      * @brief Gets the grid of points containing all possible pass locations
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		find -L \| grep -E "^./roboteam.*?\.(c\|cpp\|h\|hpp)$" --color=never \| xargs clang-format -i -style="{BasedOnStyle : Google, IndentWidth : 4, ColumnLimit : 180}"
		find -L . -not -path "./roboteam_autoref/" -not -path "./roboteam_robothub/roboteam_embedded_messages/" \| grep -E "^./roboteam.*?\.(c\|cpp\|h\|hpp)$" --color=never \| xargs clang-format -i -style="{BasedOnStyle : Google, IndentWidth : 4, ColumnLimit : 180}"