rcssserver-18.0.0

[18.0.0]

• Update to C++17.

• New command:

  • "(change_focus DIST_MOMENT DIR_MOMENT)"
    All version players can use this command. If the command is
    accepted, that player's focus point is moved according to the
    given parameters. Details are described below.

• Change the version number of JSON-based monitor protocol to -1.
  And, change the header line of JSON-based game log to "JSON". If
  the value of server::game_log_version is -1, the content of the
  recorded game log is a JSON array except for the header line.

• Introduce a new observation model.

  When the players connect with version 18 or higher, the vision
  sensor automatically enters the synchronous mode. In addition,
  players with version 18 or higher receive a see message every
  cycle, regardless of their view width. Instead, the noise in the
  observed information varies with the view width. When the
  observation information is serialized, the quantize step parameter
  is multiplied by the noise term parameter, which depends on the
  view width.

  The concept of focus points is introduced. The focus point
  represents a position inside a player's view angle, and can be up
  to 40.0 meters away from the player's position. The focus point
  affects the visual sensor noise model, with the noise of observed
  objects increasing as the distance between the focus point and
  the object increases.

  The initial position of the focus point is the player's position,
  and if a player does not change the focus point position, the
  server visual noise model behaves as in server v17. However, a
  player can change the position of the focus point by sending a
  change_focus command. This command takes two parameters,
  dist_moment and dir_moment, and changes the position of the
  focus point relative to the player's neck angle.

  See the user manual for more information on the new observation
  model.