Make hand_coded_defense_agent.cpp more flexible re number of teammates

example/base_2v2.sh

+#!/bin/bash
+
+./bin/HFO --offense-npcs=2 --defense-npcs=2 --trials 20 --headless &
+
+# The magic line
+#   $$ holds the PID for this script
+#   Negation means kill by process group id instead of PID
+trap "kill -TERM -$$" SIGINT
+wait

example/base_long_2v2.sh

+#!/bin/bash
+
+./bin/HFO --offense-npcs=2 --defense-npcs=2 --trials 5000 --headless  --seed=1500348586 --no-logging &
+
+# The magic line
+#   $$ holds the PID for this script
+#   Negation means kill by process group id instead of PID
+trap "kill -TERM -$$" SIGINT
+wait

example/defense_2v3.sh

+#!/bin/bash
+
+# HAS TO BE RUN FROM EXAMPLE DIR DUE TO hand_coded_defense_agent CONFIG!
+
+../bin/HFO --offense-npcs=2 --defense-agents=1 --defense-npcs=2 --trials 20 --headless --port=7000 &
+# The below sleep period is needed to avoid the agent connecting in before the
+# Trainer.py script gets the base/Helios goalie connected in; if that happens,
+# the agent gets assigned unum 1 and there is a mixup in which agent is
+# supposed to be the goalie (some portions of the various programs go by unum,
+# others go by a goalie flag).
+sleep 15
+./hand_coded_defense_agent &> agent1.txt &
+sleep 5
+
+# The magic line
+#   $$ holds the PID for this script
+#   Negation means kill by process group id instead of PID
+trap "kill -TERM -$$" SIGINT
+wait
\ No newline at end of file

example/hand_coded_defense_agent.cpp

@@ -66,7 +66,7 @@ bool is_in_open_area(double pos_x, double pos_y) {
         }
 }
 
-action_with_params get_defense_action(const std::vector<float>& state_vec, double no_of_opponents, double numTMates) {
+action_with_params get_defense_action(const std::vector<float>& state_vec, double no_of_opponents, int numTMates) {
         int size_of_vec = 10 + 6*numTMates + 3*no_of_opponents;
         if (size_of_vec != state_vec.size()) {
                 std :: cout <<"Invalid Feature Vector / Check the number of teammates/opponents provided";
@@ -221,7 +221,7 @@ int main(int argc, char** argv) {
     // Get the vector of state features for the current state
       const vector<float>& feature_vec = hfo.getState();
       if (random == 0) {
-              action_with_params a = get_defense_action(feature_vec, 2,1);
+              action_with_params a = get_defense_action(feature_vec, 2, hfo.getNumTeammates());
          // std::cout << a.action << a.param;
          if (a.action == hfo :: MARK_PLAYER || a.action == hfo::TACKLE) {
                   hfo.act(a.action, a.param);