Update lowlevel_feature_extractor.cpp

src/lowlevel_feature_extractor.cpp

@@ -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 top 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 Top 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);