Last_action_status as a boolean state variable

doc/manual.tex

@@ -324,6 +324,10 @@ features.
 \item [$3O$] {\textbf{X, Y, and Uniform Number of
     Opponents} - For each opponent: the x-position, y-position and
   uniform number of that opponent.}
+\item{\textbf{Last\_Action\_Success\_Possible} - Whether there is any chance
+	the last action taken was successful, either in accomplishing the
+	usual intent of the action or in some other way such as getting out of
+	a goal-collision state. 1 for yes, -1 for no.}
 \end{enumerate}
 
 \begin{figure}[htp]
@@ -518,6 +522,10 @@ low-level features:
 	sorted by proximity to the agent.}
   \item [$O$]  {\textbf{Opponent Uniform Nums} [Unum] One uniform number for each opponent active in HFO,
 	sorted by proximity to the player.}
+  \item{\textbf{Last\_Action\_Success\_Possible} [Boolean] Whether there is any chance
+		the last action taken was successful, either in accomplishing the
+		usual intent of the action or in some other way such as getting out of
+		a goal-collision state.}
 \end{enumerate}
 
 \section{Action Space}

hfo/hfo.py

@@ -69,13 +69,6 @@ STATUS_STRINGS = {IN_GAME: "InGame",
                   OUT_OF_TIME: "OutOfTime",
                   SERVER_DOWN: "ServerDown"}
 
-"""Possible action result statuses."""
-ACTION_STATUS_UNKNOWN, ACTION_STATUS_BAD, ACTION_STATUS_MAYBE = list(range(-1,2))
-ACTION_STATUS_MAYBE_OK = ACTION_STATUS_MAYBE # typos
-ACTION_STATUS_STRINGS = {ACTION_STATUS_UNKNOWN: "Unknown",
-                         ACTION_STATUS_BAD: "Bad",
-                         ACTION_STATUS_MAYBE: "MaybeOK"}
-
 """Possible sides."""
 RIGHT, NEUTRAL, LEFT = list(range(-1,2))
 
@@ -204,7 +197,3 @@ class HFOEnvironment(object):
   def getNumOpponents(self):
     """ Returns the number of opponents of the agent """
     return hfo_lib.getNumOpponents(self.obj)
-
-  def actionStatusToString(self, status):
-    """Returns a string representation of an action status."""
-    return ACTION_STATUS_STRINGS[status]

hfo/hfo_c_wrapper.h

@@ -43,9 +43,6 @@ extern "C" {
   int getUnum(hfo::HFOEnvironment *hfo) {return hfo->getUnum();}
   int getNumTeammates(hfo::HFOEnvironment *hfo) {return hfo->getNumTeammates();}
   int getNumOpponents(hfo::HFOEnvironment *hfo) {return hfo->getNumOpponents();}
-  int getLastActionStatus(hfo::HFOEnvironment *hfo, hfo::action_t last_action) {
-    return hfo->getLastActionStatus(last_action);
-  }
 }
 
 #endif

src/agent.cpp

@@ -398,7 +398,8 @@ void
 Agent::UpdateFeatures()
 {
   if (feature_extractor != NULL) {
-    state = feature_extractor->ExtractFeatures(this->world());
+    state = feature_extractor->ExtractFeatures(this->world(),
+					       getLastActionStatus());
   }
 }
 
@@ -1093,7 +1094,7 @@ bool Agent::doDefendGoal() {
   Vector2D goal_pos2( -ServerParam::i().pitchHalfLength() + ServerParam::i().goalAreaLength(), -ServerParam::i().goalHalfWidth() );
   const BallObject& ball = wm.ball();
   if (! ball.rposValid()) {
-    return ACTION_STATUS_BAD;
+    return false;
   }
 
   Vector2D ball_pos = ball.pos();

src/bhv_basic_move.cpp

@@ -57,7 +57,7 @@ using namespace rcsc;
 
  */
 bool
-Bhv_BasicMove::action_execute( PlayerAgent * agent )
+Bhv_BasicMove::execute( PlayerAgent * agent )
 {
     dlog.addText( Logger::TEAM,
                   __FILE__": Bhv_BasicMove" );

src/common.hpp

@@ -198,22 +198,6 @@ inline std::string StatusToString(status_t status) {
   }
 };
 
-/**
- * Returns a string representation of an action status.
- */
-inline std::string ActionStatusToString(action_status_t status) {
-  switch (status) {
-  case ACTION_STATUS_BAD:
-    return "Bad";
-  case ACTION_STATUS_MAYBE:
-    return "MaybeOK";
-  case ACTION_STATUS_UNKNOWN:
-    return "Unknown";
-  default:
-    return "Invalid";
-  }
-}
-
 /**
  * Parse a Trainer message to populate config. Returns a bool
  * indicating if the struct was correctly parsed.

src/feature_extractor.h

@@ -6,6 +6,8 @@
 #include <rcsc/player/player_agent.h>
 #include <vector>
 
+class Agent;
+
 typedef std::pair<float, float> OpenAngle;
 
 class FeatureExtractor {
@@ -14,7 +16,8 @@ public:
   virtual ~FeatureExtractor();
 
   // Updated the state features stored in feature_vec
-  virtual const std::vector<float>& ExtractFeatures(const rcsc::WorldModel& wm) = 0;
+  virtual const std::vector<float>& ExtractFeatures(const rcsc::WorldModel& wm,
+						    bool last_action_status) = 0;
 
   // Record the current state
   void LogFeatures();

src/highlevel_feature_extractor.cpp

@@ -11,7 +11,7 @@ using namespace rcsc;
 HighLevelFeatureExtractor::HighLevelFeatureExtractor(int num_teammates,
                                                      int num_opponents,
                                                      bool playing_offense) :
-    FeatureExtractor(num_teammates, num_opponents, playing_offense)
+  FeatureExtractor(num_teammates, num_opponents, playing_offense)
 {
   assert(numTeammates >= 0);
   assert(numOpponents >= 0);
@@ -23,8 +23,9 @@ HighLevelFeatureExtractor::HighLevelFeatureExtractor(int num_teammates,
 
 HighLevelFeatureExtractor::~HighLevelFeatureExtractor() {}
 
-const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
-    const WorldModel& wm) {
+const std::vector<float>&
+HighLevelFeatureExtractor::ExtractFeatures(const rcsc::WorldModel& wm,
+					   bool last_action_status) {
   featIndx = 0;
   const ServerParam& SP = ServerParam::i();
   const SelfObject& self = wm.self();
@@ -37,7 +38,7 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
   // features about self pos
   // Allow the agent to go 10% over the playfield in any direction
   float tolerance_x = .1 * SP.pitchHalfLength();
-  float tolerance_y = .1 * SP.pitchHalfWidth();
+  float tolerance_y = .1 * SP.pitchHalfWidth(); // should this be SP.pitchWidth()?
   // Feature[0]: X-postion
   if (playingOffense) {
     addNormFeature(self_pos.x, -tolerance_x, SP.pitchHalfLength() + tolerance_x);
@@ -180,7 +181,7 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
     addFeature(FEAT_INVALID);
   }
 
-  if (getLastActionStatus()) {
+  if (last_action_status) {
     addFeature(FEAT_MAX);
   } else {
     addFeature(FEAT_MIN);

src/highlevel_feature_extractor.h

@@ -20,7 +20,8 @@ public:
   virtual ~HighLevelFeatureExtractor();
 
   // Updated the state features stored in feature_vec
-  virtual const std::vector<float>& ExtractFeatures(const rcsc::WorldModel& wm);
+  virtual const std::vector<float>& ExtractFeatures(const rcsc::WorldModel& wm,
+						    bool last_action_status);
 
 protected:
   // Number of features for non-player objects.

src/lowlevel_feature_extractor.cpp

@@ -24,8 +24,9 @@ LowLevelFeatureExtractor::LowLevelFeatureExtractor(int num_teammates,
 
 LowLevelFeatureExtractor::~LowLevelFeatureExtractor() {}
 
-const std::vector<float>& LowLevelFeatureExtractor::ExtractFeatures(
-    const WorldModel& wm) {
+const std::vector<float>&
+LowLevelFeatureExtractor::ExtractFeatures(const rcsc::WorldModel& wm,
+					  bool last_action_status) {
   featIndx = 0;
   const ServerParam& SP = ServerParam::i();
   // ======================== SELF FEATURES ======================== //
@@ -219,7 +220,7 @@ const std::vector<float>& LowLevelFeatureExtractor::ExtractFeatures(
     addFeature(FEAT_MIN);
   }
 
-  if (getLastActionStatus()) {
+  if (last_action_status) {
     addFeature(FEAT_MAX);
   } else {
     addFeature(FEAT_MIN);

src/lowlevel_feature_extractor.h

@@ -14,7 +14,8 @@ public:
   virtual ~LowLevelFeatureExtractor();
 
   // Updated the state features stored in feature_vec
-  virtual const std::vector<float>& ExtractFeatures(const rcsc::WorldModel& wm);
+  virtual const std::vector<float>& ExtractFeatures(const rcsc::WorldModel& wm,
+						    bool last_action_status);
 
 protected:
   // Number of features for non-player objects.

src/sample_player.cpp

@@ -257,7 +257,7 @@ SamplePlayer::actionImpl()
       lastTrainerMessageTime = audioSensor().trainerMessageTime().cycle();
     }
     if (feature_extractor != NULL) {
-      feature_extractor->ExtractFeatures(this->world());
+      feature_extractor->ExtractFeatures(this->world(), true);
       feature_extractor->LogFeatures();
     }
   }