Merge branch 'master' into randomization - avoid rebase

CMakeLists.txt

@@ -153,6 +153,10 @@ add_executable(high_level_random_agent ${CMAKE_CURRENT_SOURCE_DIR}/example/high_
 set_target_properties(high_level_random_agent PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/example)
 target_link_libraries(high_level_random_agent hfo-lib)
 
+add_executable(hand_coded_defense_agent ${CMAKE_CURRENT_SOURCE_DIR}/example/hand_coded_defense_agent.cpp)
+set_target_properties(hand_coded_defense_agent PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/example)
+target_link_libraries(hand_coded_defense_agent hfo-lib)
+
 add_executable(mid_level_move_agent ${CMAKE_CURRENT_SOURCE_DIR}/example/mid_level_move_agent.cpp)
 set_target_properties(mid_level_move_agent PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/example)
 target_link_libraries(mid_level_move_agent hfo-lib)

example/hand_coded_defense_agent.cpp

@@ -104,7 +104,7 @@ action_with_params get_defense_action(const std::vector<float>& state_vec, doubl
                 //std:: cout << "In open Area" << "\n";
                 if (is_kickable(ball_pos_x, ball_pos_y, opp1_pos_x, opp1_pos_y) && 
                         get_dist_normalized(ball_pos_x, ball_pos_y, opp1_pos_x, opp1_pos_y) < 
-                        get_dist_normalized(ball_pos_x, ball_pos_y, opp1_pos_x, opp1_pos_y)) {
+                        get_dist_normalized(ball_pos_x, ball_pos_y, opp2_pos_x, opp2_pos_y)) {
                         return {MARK_PLAYER, opp2_unum};
                         //                      return {REDUCE_ANGLE_TO_GOAL, 1};