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Merge pull request #125 from rcsoccersim/develop
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Official Release 18.1.2
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hidehisaakiyama authored Mar 17, 2023
2 parents 5b509d2 + 99057d3 commit 87d616b
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Showing 5 changed files with 19 additions and 6 deletions.
2 changes: 1 addition & 1 deletion CMakeLists.txt
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@@ -1,6 +1,6 @@
cmake_minimum_required(VERSION 3.5.1)

project(RCSSServer VERSION 18.1.1)
project(RCSSServer VERSION 18.1.2)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
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8 changes: 8 additions & 0 deletions ChangeLog
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@@ -1,3 +1,11 @@
2023-03-17 Hidehisa Akiyama <[email protected]>

* CMakeLists.txt:
* NEWS:
* configure.ac:
- update a point version number. Official release 18.1.2.
- Fix a problem of v18 observation noise model.

2023-03-15 Hidehisa Akiyama <[email protected]>

* CMakeLists.txt:
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5 changes: 5 additions & 0 deletions NEWS
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@@ -1,3 +1,8 @@
[18.1.2]
* Fix a problem of v18 observation noise model. Quantized distance
values affected by the focus point are now rounded to one decimal
place.

[18.1.1]
* Fix a problem in which the focus point is sometimes not updated.

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2 changes: 1 addition & 1 deletion configure.ac
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Expand Up @@ -3,7 +3,7 @@

AC_PREREQ([2.69])
LT_PREREQ([2.2])
AC_INIT([RCSSServer],[18.1.1],[https://github.com/rcsoccersim/],[rcssserver])
AC_INIT([RCSSServer],[18.1.2],[https://github.com/rcsoccersim/],[rcssserver])

#AM_INIT_AUTOMAKE([gnu 1.7.2 check-news dist-bzip2 dist-zip])
AM_INIT_AUTOMAKE([gnu 1.7.2 check-news foreign])
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8 changes: 4 additions & 4 deletions src/visualsenderplayer.cpp
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Expand Up @@ -1156,7 +1156,7 @@ VisualSenderPlayerV18::sendHighBall( const MPObject & ball )
un_quant_dist,
self().distQStep() );
if ( std::fabs( ang ) < self().visibleAngle() * 0.5
&& un_quant_dist < self().playerType()->ballMaxObservationLength())
&& un_quant_dist < self().playerType()->ballMaxObservationLength() )
{
double prob = 0.0;
if ( self().playerType()->ballVelTooFarLength() > self().playerType()->ballVelFarLength() )
Expand Down Expand Up @@ -1325,10 +1325,10 @@ VisualSenderPlayerV18::calcQuantDistFocusPoint( const PObject & obj,
const double unquant_dist,
const double qstep )
{
const double dist_focus_point = obj.pos().distance( M_focus_point );
const double quant_dist_focus_point = calcQuantDist( dist_focus_point, qstep );
const double unquant_dist_focus_point = obj.pos().distance( M_focus_point );
const double quant_dist_focus_point = std::exp( Quantize( std::log( unquant_dist_focus_point + EPS ), qstep ) );

return std::max( 0.0, unquant_dist - ( dist_focus_point - quant_dist_focus_point ) );
return Quantize( std::max( 0.0, unquant_dist - ( unquant_dist_focus_point - quant_dist_focus_point ) ), 0.1 );
}

/*!
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