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Shashank Suhas
Seminar-HFO
Commits
b9548574
Commit
b9548574
authored
Oct 02, 2015
by
Matthew Hausknecht
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Updated low level angle-to-ball feature.
parent
6b188358
Changes
6
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+37
-6
doc/figures/AngExample.pdf
doc/figures/AngExample.pdf
+0
-0
doc/figures/AngFeatExample.pdf
doc/figures/AngFeatExample.pdf
+0
-0
doc/manual.pdf
doc/manual.pdf
+0
-0
doc/manual.tex
doc/manual.tex
+33
-3
src/feature_extractor.cpp
src/feature_extractor.cpp
+1
-1
src/lowlevel_feature_extractor.cpp
src/lowlevel_feature_extractor.cpp
+3
-2
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doc/figures/AngExample.pdf
0 → 100644
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b9548574
File added
doc/figures/AngFeatExample.pdf
0 → 100644
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b9548574
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doc/manual.pdf
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b9548574
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doc/manual.tex
View file @
b9548574
...
@@ -13,6 +13,7 @@
...
@@ -13,6 +13,7 @@
\usepackage
{
hyperref,graphicx
}
\usepackage
{
hyperref,graphicx
}
\usepackage
{
fullpage
}
\usepackage
{
fullpage
}
\usepackage
{
enumitem
}
\usepackage
{
enumitem
}
\usepackage
{
subcaption
}
\title
{
RoboCup 2D Half Field Offense
\\
Technical Manual
}
\title
{
RoboCup 2D Half Field Offense
\\
Technical Manual
}
\author
{
Matthew Hausknecht
}
\author
{
Matthew Hausknecht
}
...
@@ -273,9 +274,10 @@ the magnitude of self velocity will be set to zero.
...
@@ -273,9 +274,10 @@ the magnitude of self velocity will be set to zero.
\subsubsection
{
Angular Features
}
\subsubsection
{
Angular Features
}
\textit
{
Angular features
}
(e.g. the angle to the ball), are encoded as two
\textit
{
Angular features
}
(e.g. the angle to the ball), are encoded as
floating point numbers -- the
$
sin
(
\theta
)
$
and
$
cos
(
\theta
)
$
where
two floating point numbers -- the
$
sin
(
\theta
)
$
and
$
cos
(
\theta
)
$
$
\theta
$
is the original angle.
where
$
\theta
$
is the original angle in radians. Figure
\ref
{
fig:ang
_
example
}
provides examples of the angular encoding.
This encoding allows the angle to vary smoothly for all possible
This encoding allows the angle to vary smoothly for all possible
angular values. Other encodings such as radians or degrees have a
angular values. Other encodings such as radians or degrees have a
...
@@ -283,6 +285,34 @@ discontinuity that when normalized, could cause the feature value to
...
@@ -283,6 +285,34 @@ discontinuity that when normalized, could cause the feature value to
flip between the maximum and minimum value in response to small
flip between the maximum and minimum value in response to small
changes in
$
\theta
$
.
changes in
$
\theta
$
.
Given an angular feature
$
\langle
\alpha
_
1
,
\alpha
_
2
\rangle
$
we can
recover the original angle
$
\theta
$
(in radians) by taking the
$
cos
^{
-
1
}
(
\alpha
_
2
)
$
and multiplying by the sign of
$
\alpha
_
1
$
.
\begin{figure*}
[htp]
\centering
\subcaptionbox
{
Angular Encoding
}{
\includegraphics
[width=.4\textwidth]
{
figures/AngExample
}
}
\hspace
{
3em
}
\subcaptionbox
{
Additional Examples
}{
\includegraphics
[width=.3\textwidth]
{
figures/AngFeatExample
}
}
\caption
{
\textbf
{
Angular Encoding:
}
Objects on the agents left/right
side result in a negative/positive
$
sin
(
\theta
)
$
.
$
cos
(
\theta
)
$
is
positive in front of the player and negative behind. For example,
an object directly in front of the player would have angular
features of
$
sin
(
\theta
)=
0
, cos
(
\theta
)=
1
$
. Additional examples:
\textbf
{
Angle to ball
}
$
\theta
=
60
^
\circ
$
or
$
1
.
0472
$
radians. This
results in angular features
$
\langle
sin
(
\theta
)=
.
86
,
cos
(
\theta
)=
.
49
\rangle
$
.
\textbf
{
Angle to teammate
}
:
$
\theta
=
135
^
\circ
,
2
.
35
$
radians.
$
\langle
sin
(
\theta
)=
.
71
,
cos
(
\theta
)=-
.
71
\rangle
$
.
\textbf
{
Angle to Opponent
}
:
$
\theta
=-
90
^
\circ
$
or
$
-
1
.
57
$
radians.
$
\langle
sin
(
\theta
)=-
1
,
cos
(
\theta
)=
0
\rangle
$
.
}
\label
{
fig:ang
_
example
}
\end{figure*}
\subsubsection
{
Distance Features
}
\subsubsection
{
Distance Features
}
\textit
{
Distance features
}
encode the distance to objects of
\textit
{
Distance features
}
encode the distance to objects of
...
...
src/feature_extractor.cpp
View file @
b9548574
...
@@ -62,7 +62,7 @@ void FeatureExtractor::addLandmarkFeatures(const rcsc::Vector2D& landmark,
...
@@ -62,7 +62,7 @@ void FeatureExtractor::addLandmarkFeatures(const rcsc::Vector2D& landmark,
addFeature
(
0
);
addFeature
(
0
);
}
else
{
}
else
{
Vector2D
vec_to_landmark
=
landmark
-
self_pos
;
Vector2D
vec_to_landmark
=
landmark
-
self_pos
;
addAngFeature
(
self_ang
-
vec_to_landmark
.
th
()
);
addAngFeature
(
vec_to_landmark
.
th
()
-
self_ang
);
addDistFeature
(
vec_to_landmark
.
r
(),
maxHFORadius
);
addDistFeature
(
vec_to_landmark
.
r
(),
maxHFORadius
);
}
}
}
}
...
...
src/lowlevel_feature_extractor.cpp
View file @
b9548574
...
@@ -127,8 +127,9 @@ const std::vector<float>& LowLevelFeatureExtractor::ExtractFeatures(
...
@@ -127,8 +127,9 @@ const std::vector<float>& LowLevelFeatureExtractor::ExtractFeatures(
// Angle and distance to the ball
// Angle and distance to the ball
addFeature
(
ball
.
rposValid
()
?
FEAT_MAX
:
FEAT_MIN
);
addFeature
(
ball
.
rposValid
()
?
FEAT_MAX
:
FEAT_MIN
);
if
(
ball
.
rposValid
())
{
if
(
ball
.
rposValid
())
{
addAngFeature
(
ball
.
angleFromSelf
());
addLandmarkFeatures
(
ball
.
pos
(),
self_pos
,
self_ang
);
addDistFeature
(
ball
.
distFromSelf
(),
maxHFORadius
);
// addAngFeature(ball.angleFromSelf());
// addDistFeature(ball.distFromSelf(), maxHFORadius);
}
else
{
}
else
{
addFeature
(
0
);
addFeature
(
0
);
addFeature
(
0
);
addFeature
(
0
);
...
...
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