Revert "Trying to deal with 'Violated Feature Bounds' errors for self, ball...

Revert "Trying to deal with 'Violated Feature Bounds' errors for self, ball position - match documentation" - compatibility worries
Will experiment with low-level features while consulting re errors

This reverts commit 76209cdb.

src/highlevel_feature_extractor.cpp

@@ -36,45 +36,32 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
   // Allow the agent to go 10% over the playfield in any direction
   float tolerance_x = .1 * SP.pitchHalfLength();
   float tolerance_y = .1 * SP.pitchHalfWidth();
-  // figure up min, max x, y
-  float min_x = 0; // Depends on offense vs defense
-  float max_x = 0;
-  if (playingOffense) {
-    min_x = -tolerance_x;
-    max_x = SP.pitchHalfLength() + tolerance_x;
-  } else {
-    min_x = -SP.pitchHalfLength()-tolerance_x;
-    max_x = tolerance_x;
-  }
-  float min_y = -SP.pitchHalfWidth() - tolerance_y;
-  float max_y = SP.pitchHalfWidth() + tolerance_y;
   // Feature[0]: X-postion
-  // Feature[1]: Y-position
-  if (valid(self)) {
-    addNormFeature(self_pos.x, min_x, max_x);
-    addNormFeature(self_pos.y, min_y, max_y);
+  if (playingOffense) {
+    addNormFeature(self_pos.x, -tolerance_x, SP.pitchHalfLength() + tolerance_x);
   } else {
-    addFeature(FEAT_INVALID);
-    addFeature(FEAT_INVALID);
+    addNormFeature(self_pos.x, -SP.pitchHalfLength()-tolerance_x, tolerance_x);
   }
 
+  // Feature[1]: Y-Position
+  addNormFeature(self_pos.y, -SP.pitchHalfWidth() - tolerance_y,
+                 SP.pitchHalfWidth() + tolerance_y);
+
   // Feature[2]: Self Angle
-  addNormFeature(self_ang, -M_PI, M_PI); // Check for validity?
+  addNormFeature(self_ang, -M_PI, M_PI);
 
   float r;
   float th;
   // Features about the ball
-  const BallObject& ball = wm.ball();
-  if (ball.rposValid()) {
-    Vector2D ball_pos = ball.pos();
-    angleDistToPoint(self_pos, ball_pos, th, r);
-    // Feature[3] and [4]: (x,y) postition of the ball
-    addNormFeature(ball_pos.x, min_x, max_x);
-    addNormFeature(ball_pos.y, min_y, max_y);
+  Vector2D ball_pos = wm.ball().pos();
+  angleDistToPoint(self_pos, ball_pos, th, r);
+  // Feature[3] and [4]: (x,y) postition of the ball
+  if (playingOffense) {
+    addNormFeature(ball_pos.x, -tolerance_x, SP.pitchHalfLength() + tolerance_x);
   } else {
-    addFeature(FEAT_INVALID);
-    addFeature(FEAT_INVALID);
+    addNormFeature(ball_pos.x, -SP.pitchHalfLength()-tolerance_x, tolerance_x);
   }
+  addNormFeature(ball_pos.y, -SP.pitchHalfWidth() - tolerance_y, SP.pitchHalfWidth() + tolerance_y);
   // Feature[5]: Able to kick
   addNormFeature(self.isKickable(), false, true);