Updated state features to include teammate unums.

doc/manual.tex

@@ -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 [$2T$] {\textbf{Distance and Angle to Teammates} - For each
-  teammate i: the distance and angle to that teammate.}
+\item [$3T$] {\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

@@ -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

@@ -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?