Try at putting action_status into state vector

hfo/hfo.py

@@ -114,8 +114,6 @@ hfo_lib.getNumTeammates.argtypes = [c_void_p]
 hfo_lib.getNumTeammates.restype = c_int
 hfo_lib.getNumOpponents.argtypes = [c_void_p]
 hfo_lib.getNumOpponents.restype = c_int
-hfo_lib.getLastActionStatus.argtypes = [c_void_p, c_int]
-hfo_lib.getLastActionStatus.restype = c_int
 
 class HFOEnvironment(object):
   def __init__(self):
@@ -207,16 +205,6 @@ class HFOEnvironment(object):
     """ Returns the number of opponents of the agent """
     return hfo_lib.getNumOpponents(self.obj)
 
-  def getLastActionStatus(self, last_action):
-    """
-    If last_action is the last action with a recorded status,
-    returns ACTION_STATUS_MAYBE for possible success,
-    ACTION_STATUS_BAD for no possibility of success,
-    or ACTION_STATUS_UNKNOWN if unknown. If it is not the
-    last action with a recorded status, returns ACTION_STATUS_UNKNOWN.
-    """
-    return hfo_lib.getLastActionStatus(self.obj, last_action)
-
   def actionStatusToString(self, status):
     """Returns a string representation of an action status."""
     return ACTION_STATUS_STRINGS[status]

src/HFO.cpp

@@ -123,10 +123,6 @@ int HFOEnvironment::getNumOpponents() {
   return agent->getNumOpponents();
 }
 
-action_status_t HFOEnvironment::getLastActionStatus(action_t last_action) {
-  return agent->getLastActionStatus(last_action);
-}
-
 Player HFOEnvironment::playerOnBall() {
   return agent->getPlayerOnBall();
 }

src/HFO.hpp

@@ -55,8 +55,6 @@ class HFOEnvironment {
   // Returns the number of opponents
   virtual int getNumOpponents();
 
-  virtual action_status_t getLastActionStatus(action_t last_action);
-
   // Get the current player holding the ball
   virtual Player playerOnBall();
 

src/agent.cpp

@@ -151,9 +151,8 @@ Agent::Agent()
     // set communication planner
     M_communication = Communication::Ptr(new SampleCommunication());
 
-    // setup last_action variables
-    last_action_with_status = NOOP;
-    last_action_status = ACTION_STATUS_UNKNOWN;
+    // setup last_action variable
+    last_action_status = false;
 }
 
 Agent::~Agent() {
@@ -166,27 +165,11 @@ int Agent::getUnum() {
   return world().self().unum();
 }
 
-action_status_t Agent::getLastActionStatus(action_t last_action) {
-  if (last_action == last_action_with_status) {
-    return last_action_status;
+void Agent::setLastActionStatusCollision(bool may_fix, bool likely_success) {
+  if (likely_success || may_fix) {
+    last_action_status = true;
   } else {
-    return ACTION_STATUS_UNKNOWN;
-  }
-}
-
-void Agent::addLastActionStatus(action_t last_action, action_status_t action_status) {
-  last_action_with_status = last_action;
-  last_action_status = action_status;
-}
-
-void Agent::addLastActionStatusCollision(action_t last_action, bool may_fix, bool likely_success) {
-  last_action_with_status = last_action;
-  if (likely_success) {
-    last_action_status = ACTION_STATUS_MAYBE;
-  } else if (may_fix) {
-    last_action_status = ACTION_STATUS_UNKNOWN;
-  } else {
-    last_action_status = ACTION_STATUS_BAD;
+    last_action_status = false;
   }
 }
 
@@ -287,28 +270,27 @@ void Agent::actionImpl() {
 
   switch(requested_action) {
     case DASH:
-      addLastActionStatusCollision(DASH, may_fix, this->doDash(params[0], params[1]));
+      setLastActionStatusCollision(may_fix, this->doDash(params[0], params[1]));
       break;
     case TURN:
-      addLastActionStatusCollision(TURN, may_fix, this->doTurn(params[0]));
+      setLastActionStatusCollision(may_fix, this->doTurn(params[0]));
       break;
     case TACKLE:
-      addLastActionStatus(TACKLE, BooleanToActionStatus(this->doTackle(params[0], false)));
+      setLastActionStatus(this->doTackle(params[0], false));
       break;
     case KICK:
-      addLastActionStatus(KICK, BooleanToActionStatus(this->doKick(params[0], params[1])));
+      setLastActionStatus(this->doKick(params[0], params[1]));
       break;
     case KICK_TO:
       if (feature_extractor != NULL) {
-        addLastActionStatus(KICK_TO,
-			    BooleanToActionStatus(Body_SmartKick(Vector2D(feature_extractor->absoluteXPos(params[0]),
+        setLastActionStatus(Body_SmartKick(Vector2D(feature_extractor->absoluteXPos(params[0]),
 						    feature_extractor->absoluteYPos(params[1])),
-								 params[2], params[2] * 0.99, 3).execute(this)));
+					   params[2], params[2] * 0.99, 3).execute(this));
       }
       break;
     case MOVE_TO:
       if (feature_extractor != NULL) {
-        addLastActionStatusCollision(MOVE_TO, may_fix,
+        setLastActionStatusCollision(may_fix,
 				     Body_GoToPoint(Vector2D(feature_extractor->absoluteXPos(params[0]),
 							     feature_extractor->absoluteYPos(params[1])), 0.25,
 						    ServerParam::i().maxDashPower()).execute(this));
@@ -316,50 +298,51 @@ void Agent::actionImpl() {
       break;
     case DRIBBLE_TO:
       if (feature_extractor != NULL) {
-        addLastActionStatusCollision(DRIBBLE_TO, may_fix,
+        setLastActionStatusCollision(may_fix,
 				     Body_Dribble(Vector2D(feature_extractor->absoluteXPos(params[0]),
 							   feature_extractor->absoluteYPos(params[1])), 1.0,
 						  ServerParam::i().maxDashPower(), 2).execute(this));
       }
       break;
     case INTERCEPT:
-      addLastActionStatusCollision(INTERCEPT, may_fix, Body_Intercept().execute(this));
+      setLastActionStatusCollision(may_fix, Body_Intercept().execute(this));
       break;
     case MOVE:
-      addLastActionStatus(MOVE, this->doMove());
+      setLastActionStatus(this->doMove());
       break;
     case SHOOT:
-      addLastActionStatus(SHOOT, this->doSmartKick());
+      setLastActionStatus(this->doSmartKick());
       break;
     case PASS:
-      addLastActionStatus(PASS, this->doPassTo(int(params[0])));
+      setLastActionStatus(this->doPassTo(int(params[0])));
       break;
     case DRIBBLE:
-      addLastActionStatus(DRIBBLE, this->doDribble());
+      setLastActionStatus(this->doDribble());
       break;
     case CATCH:
-      addLastActionStatus(CATCH, BooleanToActionStatus(this->doCatch()));
+      setLastActionStatus(this->doCatch());
       break;
     case NOOP:
+      setLastActionStatus(false);
       break;
     case QUIT:
       std::cout << "Got quit from agent." << std::endl;
       handleExit();
       return;
     case REDUCE_ANGLE_TO_GOAL:
-      addLastActionStatus(REDUCE_ANGLE_TO_GOAL, this->doReduceAngleToGoal());
+      setLastActionStatus(this->doReduceAngleToGoal());
       break;
     case MARK_PLAYER:
-      addLastActionStatus(MARK_PLAYER, this->doMarkPlayer(int(params[0])));
+      setLastActionStatus(this->doMarkPlayer(int(params[0])));
       break;
     case DEFEND_GOAL:
-      addLastActionStatus(DEFEND_GOAL, this->doDefendGoal());
+      setLastActionStatus(this->doDefendGoal());
       break;
     case GO_TO_BALL:
-      addLastActionStatus(GO_TO_BALL, this->doGoToBall());
+      setLastActionStatus(this->doGoToBall());
       break;
     case REORIENT:
-      addLastActionStatus(REORIENT, this->doReorient());
+      setLastActionStatus(this->doReorient());
       break;
     default:
       std::cerr << "ERROR: Unsupported Action: "
@@ -745,7 +728,7 @@ Agent::doPreprocess()
   Alternative high-level action to always doing "Move"; usable by either side, although
   probably more useful for offense. Variant of doPreprocess (above), which is called by doDribble.
 */
-action_status_t
+bool
 Agent::doReorient()
 {
     // check tackle expires
@@ -767,11 +750,8 @@ Agent::doReorient()
                       __FILE__": tackle wait. expires= %d",
                       wm.self().tackleExpires() );
 
-	if (Bhv_Emergency().execute( this )) { // includes change view
-	  return ACTION_STATUS_MAYBE;
-	} else {
-	  return ACTION_STATUS_UNKNOWN;
-	}
+	Bhv_Emergency().execute( this ); // includes change view
+	return true;
     }
 
     //
@@ -785,7 +765,7 @@ Agent::doReorient()
         Vector2D move_point =  Strategy::i().getPosition( wm.self().unum() );
 	Bhv_CustomBeforeKickOff( move_point ).execute( this );
         this->setViewAction( new View_Tactical() );
-        return ACTION_STATUS_MAYBE;
+        return true;
     }
 
     //
@@ -800,11 +780,8 @@ Agent::doReorient()
 	dlog.addText( Logger::TEAM,
                       __FILE__": invalid my vel" );
       }
-      if (Bhv_Emergency().execute( this )) { // includes change view
-	return ACTION_STATUS_MAYBE;
-      } else {
-	return ACTION_STATUS_UNKNOWN;
-      }
+      Bhv_Emergency().execute( this ); // includes change view
+      return true;
     }
 
     //
@@ -826,11 +803,8 @@ Agent::doReorient()
         dlog.addText( Logger::TEAM,
                       __FILE__": search ball" );
 
-        if (Bhv_NeckBodyToBall().execute( this )) {
-	  return ACTION_STATUS_MAYBE;
-	} else {
-	  return ACTION_STATUS_UNKNOWN;
-	}
+        Bhv_NeckBodyToBall().execute( this );
+	return true;
     }
 
 
@@ -839,7 +813,7 @@ Agent::doReorient()
     //
     if ( doHeardPassReceive() )
     {
-        return ACTION_STATUS_MAYBE;
+        return true;
     }
 
     const BallObject& ball = wm.ball();
@@ -847,11 +821,8 @@ Agent::doReorient()
       dlog.addText( Logger::TEAM,
 		    __FILE__": search ball" );
 
-      if (Bhv_NeckBodyToBall().execute( this )) {
-	return ACTION_STATUS_MAYBE;
-      } else {
-	return ACTION_STATUS_UNKNOWN;
-      }
+      Bhv_NeckBodyToBall().execute( this );
+      return true;
     }
 
     //
@@ -861,17 +832,17 @@ Agent::doReorient()
     {
         dlog.addText( Logger::TEAM,
                       __FILE__": do queued intention" );
-        return ACTION_STATUS_MAYBE;
+        return true;
     }
 
-    return ACTION_STATUS_BAD;
+    return false;
 }
 
 /*-------------------------------------------------------------------*/
 /*!
 
 */
-action_status_t
+bool
 Agent::doShoot()
 {
     const WorldModel & wm = this->world();
@@ -886,23 +857,23 @@ Agent::doShoot()
 
         // reset intention
         this->setIntention( static_cast< SoccerIntention * >( 0 ) );
-        return ACTION_STATUS_MAYBE;
+        return true;
     }
 
-    return ACTION_STATUS_BAD;
+    return false;
 }
 
-action_status_t
+bool
 Agent::doSmartKick()
 {
     const ShootGenerator::Container & cont =
         ShootGenerator::instance().courses(this->world(), false);
     ShootGenerator::Container::const_iterator best_shoot
         = std::min_element(cont.begin(), cont.end(), ShootGenerator::ScoreCmp());
-    return BooleanToActionStatus(Body_SmartKick(best_shoot->target_point_,
+    return Body_SmartKick(best_shoot->target_point_,
 			  best_shoot->first_ball_speed_,
 			  best_shoot->first_ball_speed_ * 0.99,
-						3).execute(this));
+			  3).execute(this);
 }
 
 
@@ -919,19 +890,19 @@ Agent::doPass()
     return true;
 }
 
-action_status_t
+bool
 Agent::doPassTo(int receiver)
 {
     Force_Pass pass;
     pass.get_pass_to_player(this->world(), receiver);
-    return BooleanToActionStatus(pass.execute(this));
+    return pass.execute(this);
 }
 
 /*-------------------------------------------------------------------*/
 /*!
 
 */
-action_status_t
+bool
 Agent::doDribble()
 {
   bool success = false;
@@ -945,9 +916,9 @@ Agent::doDribble()
   success = doPreprocess();
   ActionChainHolder::instance().update( world() );
   if (Bhv_ChainAction(ActionChainHolder::instance().graph()).execute(this)) {
-    return ACTION_STATUS_MAYBE;
+    return true;
   } else {
-    return BooleanToActionStatus(success);
+    return success;
   }
 }
 
@@ -955,19 +926,19 @@ Agent::doDribble()
 /*!
 
 */
-action_status_t
+bool
 Agent::doMove()
 {
   Strategy::instance().update( world() );
   int role_num = Strategy::i().roleNumber(world().self().unum()); // Unused?
-  return Bhv_BasicMove().action_execute(this);
+  return Bhv_BasicMove().execute(this);
 }
 
 /*-------------------------------------------------------------------*/
 /*!
  * This Action marks the player with the specified uniform number.
 */
-action_status_t Agent::doMarkPlayer(int unum) {
+bool Agent::doMarkPlayer(int unum) {
   const WorldModel & wm = this->world();
   Vector2D kicker_pos = Vector2D :: INVALIDATED;
   Vector2D player_pos =  Vector2D :: INVALIDATED;
@@ -991,26 +962,24 @@ action_status_t Agent::doMarkPlayer(int unum) {
 
   if (!player_pos.isValid()) {
       //Player to be marked not found
-      return ACTION_STATUS_BAD;
+      return false;
   }
   if (!kicker_pos.isValid()) {
       //Kicker not found
-      return ACTION_STATUS_BAD;
+      return false;
   }
   if (unum == kicker_unum || kicker_pos.equals(player_pos)) {
     //Player to be marked is kicker
-    return ACTION_STATUS_BAD;
+    return false;
   }
   double x = player_pos.x + (kicker_pos.x - player_pos.x)*0.1;
   double y = player_pos.y + (kicker_pos.y - player_pos.y)*0.1;
   bool may_fix = wm.self().collidesWithPost();
 
   if (Body_GoToPoint(Vector2D(x,y), 0.25, ServerParam::i().maxDashPower()).execute(this)) {
-    return ACTION_STATUS_MAYBE;
-  } else if (may_fix) {
-    return ACTION_STATUS_UNKNOWN;
+    return true;
   } else {
-    return ACTION_STATUS_BAD;
+    return may_fix;
   }
 }
 
@@ -1020,12 +989,12 @@ action_status_t Agent::doMarkPlayer(int unum) {
  * This action cuts off the angle between the shooter and the goal the players always move to a dynamic line in between the kicker and the goal.
  */
 
-/* Comparator for sorting teammated based on y positions.*/
+/* Comparator for sorting teammates based on y positions.*/
 bool compare_y_pos (PlayerObject* i, PlayerObject* j) {
   return i->pos().y < j->pos().y;
 }
 
-action_status_t Agent::doReduceAngleToGoal() {
+bool Agent::doReduceAngleToGoal() {
   const WorldModel & wm = this->world();
   Vector2D goal_pos1( -ServerParam::i().pitchHalfLength(), ServerParam::i().goalHalfWidth() );
   Vector2D goal_pos2( -ServerParam::i().pitchHalfLength(), -ServerParam::i().goalHalfWidth() );
@@ -1034,7 +1003,7 @@ action_status_t Agent::doReduceAngleToGoal() {
 
   const BallObject& ball = wm.ball();
   if (! ball.rposValid()) {
-    return ACTION_STATUS_BAD;
+    return false;
   }
 
   Vector2D ball_pos = ball.pos();
@@ -1105,11 +1074,9 @@ action_status_t Agent::doReduceAngleToGoal() {
   Vector2D target = targetLineEnd1 * ratio + targetLineEnd2 * (1-ratio);
   bool may_fix = wm.self().collidesWithPost();
   if (Body_GoToPoint(target, 0.25, ServerParam::i().maxDashPower()).execute(this)) {
-    return ACTION_STATUS_MAYBE;
-  } else if (may_fix) {
-    return ACTION_STATUS_UNKNOWN;
+    return true;
   } else {
-    return ACTION_STATUS_BAD;
+    return may_fix;
   }
 }
 
@@ -1120,7 +1087,7 @@ action_status_t Agent::doReduceAngleToGoal() {
  * This action cuts off the angle between the shooter and the goal; the player always moves on a fixed line.
  */
 
-action_status_t Agent::doDefendGoal() {
+bool Agent::doDefendGoal() {
   const WorldModel & wm = this->world();
   Vector2D goal_pos1( -ServerParam::i().pitchHalfLength() + ServerParam::i().goalAreaLength(), ServerParam::i().goalHalfWidth() );
   Vector2D goal_pos2( -ServerParam::i().pitchHalfLength() + ServerParam::i().goalAreaLength(), -ServerParam::i().goalHalfWidth() );
@@ -1137,11 +1104,9 @@ action_status_t Agent::doDefendGoal() {
   bool may_fix = wm.self().collidesWithPost();
 
   if (Body_GoToPoint(target, 0.25, ServerParam::i().maxDashPower()).execute(this)) {
-    return ACTION_STATUS_MAYBE;
-  } else if (may_fix) {
-    return ACTION_STATUS_UNKNOWN;
+    return true;
   } else {
-    return ACTION_STATUS_BAD;
+    return may_fix;
   }
 }
 
@@ -1153,13 +1118,13 @@ action_status_t Agent::doDefendGoal() {
  */
 
 
-action_status_t Agent::doGoToBall() {
+bool Agent::doGoToBall() {
   const WorldModel & wm = this->world();
   const BallObject& ball = wm.ball();
   if (! ball.rposValid()) {
-    return ACTION_STATUS_BAD;
+    return false;
   }
-  return BooleanToActionStatus(Body_GoToPoint(ball.pos(), 0.25, ServerParam::i().maxDashPower()).execute(this));
+  return Body_GoToPoint(ball.pos(), 0.25, ServerParam::i().maxDashPower()).execute(this);
 }
 
 /*-------------------------------------------------------------------*/

src/agent.h

@@ -65,8 +65,7 @@ protected:
   std::vector<float> params;           // Parameters of current action
   int num_teammates;                   // Number of teammates
   int num_opponents;                   // Number of opponents
-  hfo::action_t last_action_with_status; // Last action with a recorded return status
-  hfo::action_status_t last_action_status;  // Recorded return status of last action
+  bool last_action_status;  // Recorded return status of last action
 
  public:
   inline const std::vector<float>& getState() { return state; }
@@ -76,7 +75,7 @@ protected:
   int getUnum(); // Returns the uniform number of the player
   inline int getNumTeammates() { return num_teammates; }
   inline int getNumOpponents() { return num_opponents; }
-  hfo::action_status_t getLastActionStatus(hfo::action_t last_action); // if last_action is correct, returns status if available
+  inline bool getLastActionStatus() { return last_action_status; }
 
   inline void setFeatureSet(hfo::feature_set_t fset) { feature_set = fset; }
   inline std::vector<float>* mutable_params() { return &params; }
@@ -85,23 +84,23 @@ protected:
 
  private:
   bool doPreprocess();
-  hfo::action_status_t doReorient();
-  hfo::action_status_t doSmartKick();
-  hfo::action_status_t doShoot();
+  bool doReorient();
+  bool doSmartKick();
+  bool doShoot();
   bool doPass();
-  hfo::action_status_t doPassTo(int receiver);
-  hfo::action_status_t doDribble();
-  hfo::action_status_t doMove();
+  bool doPassTo(int receiver);
+  bool doDribble();
+  bool doMove();
   bool doForceKick();
   bool doHeardPassReceive();
-  hfo::action_status_t doMarkPlayer(int unum);
+  bool doMarkPlayer(int unum);
   bool doMarkPlayerNearIndex(int near_index);
-  hfo::action_status_t doReduceAngleToGoal();
-  hfo::action_status_t doDefendGoal();
-  hfo::action_status_t doGoToBall();
+  bool doReduceAngleToGoal();
+  bool doDefendGoal();
+  bool doGoToBall();
   bool doNewAction1();
-  void addLastActionStatus(hfo::action_t last_action, hfo::action_status_t action_status);
-  void addLastActionStatusCollision(hfo::action_t last_action, bool may_fix, bool likely_success);
+  inline void setLastActionStatus(bool likely_success) { last_action_status = likely_success; }
+  void setLastActionStatusCollision(bool may_fix, bool likely_success);
 
 
   Communication::Ptr M_communication;

src/bhv_basic_move.cpp

@@ -52,32 +52,23 @@
 
 using namespace rcsc;
 
-bool
-Bhv_BasicMove::execute( PlayerAgent * agent )
-{
-  if (Bhv_BasicMove::action_execute(agent) == hfo::ACTION_STATUS_MAYBE) {
-    return true;
-  } else {
-    return false;
-  }
-}
-
 /*-------------------------------------------------------------------*/
 /*!
 
  */
-hfo::action_status_t
+bool
 Bhv_BasicMove::action_execute( PlayerAgent * agent )
 {
     dlog.addText( Logger::TEAM,
                   __FILE__": Bhv_BasicMove" );
-    hfo::action_status_t success = hfo::ACTION_STATUS_UNKNOWN;
+    bool success = false;
+    bool maybe_success = true;
 
     //-----------------------------------------------
     // tackle
     if ( Bhv_BasicTackle( 0.8, 80.0 ).execute( agent ) )
     {
-      return hfo::ACTION_STATUS_MAYBE;
+      return true;
     }
 
     const WorldModel & wm = agent->world();
@@ -96,7 +87,7 @@ Bhv_BasicMove::action_execute( PlayerAgent * agent )
     {
         dlog.addText( Logger::TEAM,
                       __FILE__": intercept" );
-        success = hfo::BooleanToActionStatus(Body_Intercept().execute( agent ));
+        success = Body_Intercept().execute( agent );
         agent->setNeckAction( new Neck_OffensiveInterceptNeck() );
         return success;
     }
@@ -107,7 +98,7 @@ Bhv_BasicMove::action_execute( PlayerAgent * agent )
     const BallObject& ball = wm.ball();
     if (! ball.rposValid()) {
       if (! wm.self().collidesWithPost()) {
-	success = hfo::ACTION_STATUS_BAD;
+	maybe_success = false;
       }
     }
 
@@ -127,10 +118,12 @@ Bhv_BasicMove::action_execute( PlayerAgent * agent )
                            ).execute( agent ) )
     {
       if (! Body_TurnToBall().execute( agent )) {
-	success = hfo::ACTION_STATUS_BAD;
+	success = false;
+      } else {
+	success = maybe_success;
       }
-    } else if (success != hfo::ACTION_STATUS_BAD) {
-      success = hfo::ACTION_STATUS_MAYBE;
+    } else {
+      success = maybe_success;
     }
 
     if ( wm.existKickableOpponent() &&

src/bhv_basic_move.h

@@ -38,7 +38,6 @@ public:
       { }
 
   bool execute( rcsc::PlayerAgent * agent );
-  hfo::action_status_t action_execute( rcsc::PlayerAgent * agent );
 
 private:
     double getDashPower( const rcsc::PlayerAgent * agent );

src/common.hpp

@@ -53,24 +53,6 @@ enum status_t
   SERVER_DOWN          // Server is not alive
 };
 
-// Action status
-enum action_status_t {
-  ACTION_STATUS_UNKNOWN = -1, // cannot tell or invalid action # in status request
-  ACTION_STATUS_BAD = 0, // definitely not OK
-  ACTION_STATUS_MAYBE = 1, // may be OK, may not
-};
-
-/**
- * Translates from boolean false (bad) or true (maybe OK) to action status
- */
-inline action_status_t BooleanToActionStatus(const bool status) {
-  if (status) {
-    return ACTION_STATUS_MAYBE;
-  } else{
-    return ACTION_STATUS_BAD;
-  }
-}
-
 // Configuration of the HFO domain including the team names and player
 // numbers for each team. This struct is populated by ParseConfig().
 struct Config {

src/feature_extractor.h

+// -*-c++-*-
+
 #ifndef FEATURE_EXTRACTOR_H
 #define FEATURE_EXTRACTOR_H
 

src/highlevel_feature_extractor.cpp

@@ -4,6 +4,7 @@
 
 #include "highlevel_feature_extractor.h"
 #include <rcsc/common/server_param.h>
+#include "agent.h"
 
 using namespace rcsc;
 
@@ -16,6 +17,7 @@ HighLevelFeatureExtractor::HighLevelFeatureExtractor(int num_teammates,
   assert(numOpponents >= 0);
   numFeatures = num_basic_features + features_per_teammate * numTeammates
       + features_per_opponent * numOpponents;
+  numFeatures++; // action status
   feature_vec.resize(numFeatures);
 }
 
@@ -178,6 +180,12 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
     addFeature(FEAT_INVALID);
   }
 
+  if (getLastActionStatus()) {
+    addFeature(FEAT_MAX);
+  } else {
+    addFeature(FEAT_MIN);
+  }
+
   assert(featIndx == numFeatures);
   // checkFeatures();
   return feature_vec;

src/highlevel_feature_extractor.h

+// -*-c++-*-
+
 #ifndef HIGHLEVEL_FEATURE_EXTRACTOR_H
 #define HIGHLEVEL_FEATURE_EXTRACTOR_H
 

src/lowlevel_feature_extractor.cpp

@@ -4,6 +4,7 @@
 
 #include "lowlevel_feature_extractor.h"
 #include <rcsc/common/server_param.h>
+#include "agent.h"
 
 using namespace rcsc;
 
@@ -17,6 +18,7 @@ LowLevelFeatureExtractor::LowLevelFeatureExtractor(int num_teammates,
   numFeatures = num_basic_features +
       features_per_player * (numTeammates + numOpponents);
   numFeatures += numTeammates + numOpponents; // Uniform numbers
+  numFeatures++; // action state
   feature_vec.resize(numFeatures);
 }
 
@@ -197,7 +199,7 @@ const std::vector<float>& LowLevelFeatureExtractor::ExtractFeatures(
       detected_teammates++;
     }
   }
-  // Add -2 features for any missing teammates
+  // Add -1 features for any missing teammates
   for (int i=detected_teammates; i<numTeammates; ++i) {
     addFeature(FEAT_MIN);
   }
@@ -212,11 +214,17 @@ const std::vector<float>& LowLevelFeatureExtractor::ExtractFeatures(
       detected_opponents++;
     }
   }
-  // Add -2 features for any missing opponents
+  // Add -1 features for any missing opponents
   for (int i=detected_opponents; i<numOpponents; ++i) {
     addFeature(FEAT_MIN);
   }
 
+  if (getLastActionStatus()) {
+    addFeature(FEAT_MAX);
+  } else {
+    addFeature(FEAT_MIN);
+  }
+
   assert(featIndx == numFeatures);
   checkFeatures();
   return feature_vec;

src/lowlevel_feature_extractor.h

+// -*-c++-*-
+
 #ifndef LOWLEVEL_FEATURE_EXTRACTOR_H
 #define LOWLEVEL_FEATURE_EXTRACTOR_H