From 0eccc9dea1cdfbcb3b6956c0230d465eac1f87eb Mon Sep 17 00:00:00 2001 From: Hidehisa Akiyama Date: Thu, 16 Mar 2023 16:43:57 +0900 Subject: [PATCH 1/2] Fix the problem of unintended rounded value in v18 observation noise. --- src/visualsenderplayer.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/visualsenderplayer.cpp b/src/visualsenderplayer.cpp index e480017..5d1281e 100644 --- a/src/visualsenderplayer.cpp +++ b/src/visualsenderplayer.cpp @@ -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() ) @@ -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 ); } /*! From 0de74a5d6db1afaae569f44fee5ee850ba937676 Mon Sep 17 00:00:00 2001 From: Hidehisa Akiyama Date: Fri, 17 Mar 2023 13:30:00 +0900 Subject: [PATCH 2/2] Update a point version number. Official Release 18.1.2. --- CMakeLists.txt | 2 +- ChangeLog | 8 ++++++++ NEWS | 5 +++++ configure.ac | 2 +- 4 files changed, 15 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index c24503c..e497076 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -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) diff --git a/ChangeLog b/ChangeLog index 58e1350..9b9d0c9 100644 --- a/ChangeLog +++ b/ChangeLog @@ -1,3 +1,11 @@ +2023-03-17 Hidehisa Akiyama + + * 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 * CMakeLists.txt: diff --git a/NEWS b/NEWS index 345f432..79e5668 100644 --- a/NEWS +++ b/NEWS @@ -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. diff --git a/configure.ac b/configure.ac index 28b5536..d0e07e6 100644 --- a/configure.ac +++ b/configure.ac @@ -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])