Switched back to normalized features.

src/highlevel_feature_extractor.cpp

@@ -41,12 +41,21 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
   // Allow the agent to go 10% over the playfield in any direction
   float tolerance_x = .1 * SP.pitchHalfLength();
   float tolerance_y = .1 * SP.pitchHalfWidth();
-  // Feature[0]: Xpostion
-  addFeature(self_pos.x);
-  // Feature[1]: YPosition
-  addFeature(self_pos.y);
+  // Feature[0]: X-postion
+  if (playingOffense) {
+    addNormFeature(self_pos.x, -tolerance_x, SP.pitchHalfLength() + tolerance_x);
+  } else {
+    addNormFeature(self_pos.x, -SP.pitchHalfLength()-tolerance_x, tolerance_x);
+  }
+  // addFeature(self_pos.x);
+
+  // Feature[1]: Y-Position
+  addNormFeature(self_pos.y, -SP.pitchHalfWidth() - tolerance_y,
+                 SP.pitchHalfWidth() + tolerance_y);
+  // addFeature(self_pos.y);
+
   // Feature[2]: Self Angle
-  addFeature(self_ang);
+  addNormFeature(self_ang, -2*M_PI, 2*M_PI); // addFeature(self_ang);
 
   float r;
   float th;
@@ -54,11 +63,11 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
   Vector2D ball_pos = wm.ball().pos();
   angleDistToPoint(self_pos, ball_pos, th, r);
   // Feature[3]: Dist to ball
-  addFeature(r);
+  addNormFeature(r, 0, maxR); // addFeature(r);
   // Feature[4]: Ang to ball
-  addFeature(th);
+  addNormFeature(th, -2*M_PI, 2*M_PI); // addFeature(th);
   // Feature[5]: Able to kick
-  addFeature(self.isKickable());
+  addNormFeature(self.isKickable(), false, true); // addFeature(self.isKickable());
 
   // features about distance to goal center
   Vector2D goalCenter(SP.pitchHalfLength(), 0);
@@ -67,18 +76,20 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
   }
   angleDistToPoint(self_pos, goalCenter, th, r);
   // Feature[6]: Goal Center Distance
-  addFeature(r);
+  addNormFeature(r, 0, maxR); // addFeature(r);
   // Feature[7]: Angle to goal center
-  addFeature(th);
+  addNormFeature(th, -2*M_PI, 2*M_PI); // addFeature(th);
   // Feature[8]: largest open goal angle
-  addFeature(calcLargestGoalAngle(wm, self_pos));
+  addNormFeature(calcLargestGoalAngle(wm, self_pos), 0, M_PI);
+  // addFeature(calcLargestGoalAngle(wm, self_pos));
 
-  // Feature [9+T]: teammate's open angle to goal
+  // Features [9+T - 9 + 2T]: teammate's open angle to goal
   int detected_teammates = 0;
   for (PlayerCont::const_iterator it=teammates.begin(); it != teammates.end(); ++it) {
     const PlayerObject& teammate = *it;
     if (valid(teammate) && detected_teammates < numTeammates) {
-      addFeature(calcLargestGoalAngle(wm, teammate.pos()));
+      addNormFeature(calcLargestGoalAngle(wm, teammate.pos()), 0, M_PI);
+      // addFeature(calcLargestGoalAngle(wm, teammate.pos()));
       detected_teammates++;
     }
   }
@@ -90,17 +101,15 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
   // dist to our closest opp
   if (numOpponents > 0) {
     calcClosestOpp(wm, self_pos, th, r);
-    addFeature(r);
+    addNormFeature(r, 0, maxR); // addFeature(r);
 
     // teammates dists to closest opps
     detected_teammates = 0;
     for (PlayerCont::const_iterator it=teammates.begin(); it != teammates.end(); ++it) {
       const PlayerObject& teammate = *it;
       if (valid(teammate) && detected_teammates < numTeammates) {
-        //addNormFeature(calcClosestOpp(wm,teammate.pos),0,maxR);
         calcClosestOpp(wm, teammate.pos(), th, r);
-        addFeature(r);
-        //addNormFeature(th,-M_PI,M_PI);
+        addNormFeature(r, 0, maxR); // addFeature(r);
         detected_teammates++;
       }
     }
@@ -110,28 +119,29 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
     }
   }
 
-  // open angle to teammates
+  // Features [9+2T - 9+3T]: open angle to teammates
   detected_teammates = 0;
   for (PlayerCont::const_iterator it=teammates.begin(); it != teammates.end(); ++it) {
     const PlayerObject& teammate = *it;
     if (valid(teammate) && detected_teammates < numTeammates) {
-      addFeature(calcLargestTeammateAngle(wm, self_pos, teammate.pos()));
+      addNormFeature(calcLargestTeammateAngle(wm, self_pos, teammate.pos()),0,M_PI);
+      // addFeature(calcLargestTeammateAngle(wm, self_pos, teammate.pos()));
       detected_teammates++;
     }
   }
   // Add zero features for any missing teammates
   for (int i=detected_teammates; i<numTeammates; ++i) {
-      addFeature(FEAT_INVALID);
+    addFeature(FEAT_INVALID);
   }
 
-  // dist and angle to teammates
+  // Features [9+3T - end]: dist, angle, unum of teammates
   detected_teammates = 0;
   for (PlayerCont::const_iterator it=teammates.begin(); it != teammates.end(); ++it) {
     const PlayerObject& teammate = *it;
     if (valid(teammate) && detected_teammates < numTeammates) {
       angleDistToPoint(self_pos, teammate.pos(), th, r);
-      addFeature(r);
-      addFeature(th);
+      addNormFeature(r,0,maxR); // addFeature(r);
+      addNormFeature(th,-M_PI,M_PI); // addFeature(th);
       addFeature(teammate.unum());
       detected_teammates++;
     }