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Shashank Suhas
Seminar-HFO
Commits
dda0c9d0
Commit
dda0c9d0
authored
Aug 23, 2015
by
Matthew Hausknecht
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Updated state features to include teammate unums.
parent
f076b7d9
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13 additions
and
9 deletions
+13
-9
doc/manual.pdf
doc/manual.pdf
+0
-0
doc/manual.tex
doc/manual.tex
+8
-6
src/highlevel_feature_extractor.cpp
src/highlevel_feature_extractor.cpp
+4
-2
src/highlevel_feature_extractor.h
src/highlevel_feature_extractor.h
+1
-1
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doc/manual.pdf
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dda0c9d0
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doc/manual.tex
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dda0c9d0
...
...
@@ -74,11 +74,12 @@ follows:
angle available to pass to teammate i. Shown as
$
\theta
_
p
$
in Figure
\ref
{
fig:openAngle
}
. If teammates are present but not detected, this
feature is considered invalid and given the value of -2.
}
\item
[
$
2
T
$
]
{
\textbf
{
Distance and Angle to Teammates
}
- For each
teammate i: the distance and angle to that teammate.
}
\item
[
$
3
T
$
]
{
\textbf
{
Distance, Angle, and Uniform Number of
Teammates
}
- For each teammate i: the distance, angle, and uniform
number of that teammate.
}
\end{enumerate}
There are a total of
$
9
+
4
*
\textrm
{
num
\_
teammates
}$
features with an
There are a total of
$
9
+
5
*
\textrm
{
num
\_
teammates
}$
features with an
additional
$
1
+
\textrm
{
num
\_
teammates
}$
features if at least one
opponent is present.
...
...
@@ -270,9 +271,10 @@ server.
should be used.
}
\item
{
\textbf
{
Shoot
}
(): Executes the best available shot. This command
only works when the agent has the ball.
}
\item
{
\textbf
{
Pass
}
(): Finds the best teammate to pass to and the type
of pass to use. This command only works when the agent has the
ball.
}
\item
{
\textbf
{
Pass
}
(teammate
\_
uniform
\_
number): Passes to the teammate
with the provided uniform number. Does nothing if the player does
not have control of the ball or the requested teammate is not
detected.
}
\item
{
\textbf
{
Dribble
}
(): Advances the ball towards the goal using a
combination of short kicks and moves.
}
\end{itemize}
...
...
src/highlevel_feature_extractor.cpp
View file @
dda0c9d0
...
...
@@ -132,6 +132,7 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
angleDistToPoint
(
self_pos
,
teammate
.
pos
(),
th
,
r
);
addFeature
(
r
);
addFeature
(
th
);
addFeature
(
teammate
.
unum
());
detected_teammates
++
;
}
}
...
...
@@ -139,6 +140,7 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
for
(
int
i
=
detected_teammates
;
i
<
numTeammates
;
++
i
)
{
addFeature
(
FEAT_INVALID
);
addFeature
(
FEAT_INVALID
);
addFeature
(
FEAT_INVALID
);
}
assert
(
featIndx
==
numFeatures
);
...
...
src/highlevel_feature_extractor.h
View file @
dda0c9d0
...
...
@@ -24,7 +24,7 @@ protected:
// Number of features for non-player objects.
const
static
int
num_basic_features
=
9
;
// Number of features for each player or opponent in game.
const
static
int
features_per_teammate
=
4
;
const
static
int
features_per_teammate
=
5
;
int
numTeammates
;
// Number of teammates in HFO
int
numOpponents
;
// Number of opponents in HFO
bool
playingOffense
;
// Are we playing offense or defense?
...
...
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