Rename to Reorient - clearer

hfo/hfo.py

@@ -26,7 +26,7 @@ LOW_LEVEL_FEATURE_SET, HIGH_LEVEL_FEATURE_SET = list(range(2))
   NOOP(): Do Nothing
   QUIT(): Quit the game '''
 DASH, TURN, TACKLE, KICK, KICK_TO, MOVE_TO, DRIBBLE_TO, INTERCEPT, \
-    MOVE, SHOOT, PASS, DRIBBLE, CATCH, NOOP, QUIT, REDUCE_ANGLE_TO_GOAL,MARK_PLAYER,DEFEND_GOAL,GO_TO_BALL,PREPROCESS = list(range(20))
+    MOVE, SHOOT, PASS, DRIBBLE, CATCH, NOOP, QUIT, REDUCE_ANGLE_TO_GOAL,MARK_PLAYER,DEFEND_GOAL,GO_TO_BALL,REORIENT = list(range(20))
 
 ''' Possible game status
   [IN_GAME] Game is currently active

src/agent.cpp

@@ -317,8 +317,8 @@ void Agent::actionImpl() {
     case GO_TO_BALL:
       this->doGoToBall();
       break;
-    case PREPROCESS:
-      this->doPreprocessAsAction();
+    case REORIENT:
+      this->doReorient();
       break;
     default:
       std::cerr << "ERROR: Unsupported Action: "
@@ -704,10 +704,10 @@ Agent::doPreprocess()
 /*-------------------------------------------------------------------*/
 /*!
   Alternative high-level action to always doing "Move"; usable by either side, although
-  probably more useful for offense.
+  probably more useful for offense. Variant of doPreprocess (above), which is called by doDribble.
 */
 bool
-Agent::doPreprocessAsAction()
+Agent::doReorient()
 {
     // check tackle expires
     // check self position accuracy
@@ -763,6 +763,12 @@ Agent::doPreprocessAsAction()
       return true;
     }
 
+    //
+    // set default change view
+    //
+
+    this->setViewAction( new View_Tactical() );
+
     //
     // ball localization error
     //
@@ -775,16 +781,11 @@ Agent::doPreprocessAsAction()
     {
         dlog.addText( Logger::TEAM,
                       __FILE__": search ball" );
-        this->setViewAction( new View_Tactical() );
         Bhv_NeckBodyToBall().execute( this );
         return true;
     }
 
-    //
-    // set default change view
-    //
 
-    this->setViewAction( new View_Tactical() );
 
     //
     // check queued action
@@ -805,7 +806,7 @@ Agent::doPreprocessAsAction()
     }
 
     const BallObject& ball = wm.ball();
-    if (! ( ball.rposValid() && ball.rvelValid() )) {
+    if (! ( ball.rposValid() && ball.velValid() )) {
       dlog.addText( Logger::TEAM,
 		    __FILE__": search ball" );
       Bhv_NeckBodyToBall().execute( this );

src/agent.h

@@ -76,7 +76,7 @@ protected:
 
  private:
   bool doPreprocess();
-  bool doPreprocessAsAction();
+  bool doReorient();
   bool doSmartKick();
   bool doShoot();
   bool doPass();

src/common.hpp

@@ -38,7 +38,7 @@ enum action_t
   MARK_PLAYER, 			// [High-Level] Mark_Player(opponent_unum [0,11]) : Moves to the position in between the kicker and a given player
   DEFEND_GOAL,
   GO_TO_BALL,
-  PREPROCESS  // [High-Level] Handle lost position of self/ball; variant called in DRIBBLE
+  REORIENT  // [High-Level] Handle lost position of self/ball, misc other situations; variant of doPreprocess called in DRIBBLE
 };
 
 // Status of a HFO game
@@ -118,7 +118,7 @@ inline int NumParams(const action_t action) {
      return 0;
    case GO_TO_BALL:
      return 0;
-   case PREPROCESS:
+   case REORIENT:
      return 0;
  }
  std::cerr << "Unrecognized Action: " << action << std::endl;
@@ -168,8 +168,8 @@ inline std::string ActionToString(action_t action) {
       return "Defend_Goal";
     case GO_TO_BALL:
       return "Go_To_Ball";
-    case PREPROCESS:
-      return "PreProcessAsAction";
+    case REORIENT:
+      return "Reorient";
     default:
       return "Unknown";
   }