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Shashank Suhas
Seminar-HFO
Commits
2cb258b2
Commit
2cb258b2
authored
Feb 02, 2016
by
Matthew Hausknecht
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Corrected bug in high level feature set.
parent
06a18df5
Changes
1
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3 additions
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3 deletions
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-3
src/highlevel_feature_extractor.cpp
src/highlevel_feature_extractor.cpp
+3
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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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