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Shashank Suhas
Seminar-HFO
Commits
9e460ba0
Commit
9e460ba0
authored
Mar 28, 2019
by
cshNtu
Committed by
GitHub
Mar 28, 2019
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Update lowlevel_feature_extractor.cpp
parent
309efb65
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1
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src/lowlevel_feature_extractor.cpp
src/lowlevel_feature_extractor.cpp
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src/lowlevel_feature_extractor.cpp
View file @
9e460ba0
...
...
@@ -105,16 +105,16 @@ LowLevelFeatureExtractor::ExtractFeatures(const rcsc::WorldModel& wm,
rcsc
::
Vector2D
cornerBotLeft
(
0
,
pitchHalfWidth
);
addLandmarkFeatures
(
cornerBotLeft
,
self_pos
,
self_ang
);
// Distances to
the edges of the playable area
// Distances to
being out of bounds (OOB)
if
(
self
.
posValid
())
{
// Distance to Left field line
addDistFeature
(
self_pos
.
x
,
pitchHalfLength
);
// Distance to Right field line
addDistFeature
(
pitchHalfLength
-
self_pos
.
x
,
pitchHalfLength
);
// Distance to
t
op field line
addDistFeature
(
pitchHalfWidth
+
self_pos
.
y
,
pitchWidth
);
// Distance to Bottom field line
addDistFeature
(
pitchHalfWidth
-
self_pos
.
y
,
pitchWidth
);
// Distance to
being OOB over the
Left field line
addDistFeature
(
self_pos
.
x
,
(
1.1
*
pitchHalfLength
)
);
// Distance to
being OOB over the
Right field line
addDistFeature
(
pitchHalfLength
-
self_pos
.
x
,
(
1.1
*
pitchHalfLength
)
);
// Distance to
being OOB over the T
op field line
addDistFeature
(
pitchHalfWidth
+
self_pos
.
y
,
(
1.05
*
pitchWidth
)
);
// Distance to
being OOB over the
Bottom field line
addDistFeature
(
pitchHalfWidth
-
self_pos
.
y
,
(
1.05
*
pitchWidth
)
);
}
else
{
addFeature
(
0
);
addFeature
(
0
);
...
...
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