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Seminar-HFO
Commit 2cb258b2 authored by Matthew Hausknecht's avatar Matthew Hausknecht
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Corrected bug in high level feature set.

parent 06a18df5
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Showing with 3 additions and 3 deletions
src/highlevel_feature_extractor.cpp
View file @ 2cb258b2
...@@ -52,7 +52,7 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures( ...@@ -52,7 +52,7 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
// addFeature(self_pos.y); // addFeature(self_pos.y);
// Feature[2]: Self Angle // Feature[2]: Self Angle
addNormFeature(self_ang, -2*M_PI, 2*M_PI); // addFeature(self_ang); addNormFeature(self_ang, -M_PI, M_PI); // addFeature(self_ang);
float r; float r;
float th; float th;
...@@ -62,7 +62,7 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures( ...@@ -62,7 +62,7 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
// Feature[3]: Dist to ball // Feature[3]: Dist to ball
addNormFeature(r, 0, maxR); // addFeature(r); addNormFeature(r, 0, maxR); // addFeature(r);
// Feature[4]: Ang to ball // Feature[4]: Ang to ball
addNormFeature(th, -2*M_PI, 2*M_PI); // addFeature(th); addNormFeature(th, -M_PI, M_PI); // addFeature(th);
// Feature[5]: Able to kick // Feature[5]: Able to kick
addNormFeature(self.isKickable(), false, true); // addFeature(self.isKickable()); addNormFeature(self.isKickable(), false, true); // addFeature(self.isKickable());
...@@ -75,7 +75,7 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures( ...@@ -75,7 +75,7 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
// Feature[6]: Goal Center Distance // Feature[6]: Goal Center Distance
addNormFeature(r, 0, maxR); // addFeature(r); addNormFeature(r, 0, maxR); // addFeature(r);
// Feature[7]: Angle to goal center // Feature[7]: Angle to goal center
addNormFeature(th, -2*M_PI, 2*M_PI); // addFeature(th); addNormFeature(th, -M_PI, M_PI); // addFeature(th);
// Feature[8]: largest open goal angle // Feature[8]: largest open goal angle
addNormFeature(calcLargestGoalAngle(wm, self_pos), 0, M_PI); addNormFeature(calcLargestGoalAngle(wm, self_pos), 0, M_PI);
// addFeature(calcLargestGoalAngle(wm, self_pos)); // addFeature(calcLargestGoalAngle(wm, self_pos));
......
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