Merge pull request #61 from DurgeshSamant/stamina

Stamina

.travis.yml

@@ -15,7 +15,7 @@ install:
        brew install cartr/qt4/qt 
        ;
     fi
-  - sudo -H pip install --upgrade nose numpy
+  - sudo -H pip2 install --upgrade nose numpy
 os:
   - linux
   - osx
@@ -27,4 +27,4 @@ env:
 script:
   - mkdir build && cd build
   - cmake -DCMAKE_BUILD_TYPE=RelwithDebInfo .. && make -j4 && make install
-  - cd .. && pip install --user . && nosetests --exe -vd tests/test_basic.py
+  - cd .. && pip2 install --user . && nosetests --exe -vd tests/test_basic.py

doc/manual.tex

@@ -286,7 +286,7 @@ follows:
 
 \subsubsection{High Level State Feature List}
 Let $T$ denote the number of teammates in the HFO game and $O$ the
-number of opponents. There are a total of $10 + 6T + 3O$ high-level
+number of opponents. There are a total of $10 + 6T + 3O + 2$ high-level
 features.
 
 \begin{enumerate}[noitemsep]
@@ -328,6 +328,7 @@ features.
 	the last action taken was successful, either in accomplishing the
 	usual intent of the action or (primarily for the offense) in some other way such as
 	getting out of a goal-collision state. 1 for yes, -1 for no.}
+\item [$+1$] {\textbf{Stamina} Agent's Stamina: Low stamina slows movement.}
 \end{enumerate}
 
 \begin{figure}[htp]
@@ -468,7 +469,7 @@ the above categories. These features are referred to as \textit{other
 
 \subsubsection{Low Level State Feature List}
 Let $T$ denote the number of teammates and $O$ denote the number of
-opponents in the HFO game. Then there are a total of $58 + 9T + 9O$
+opponents in the HFO game. Then there are a total of $58 + 9T + 9O + 1$
 low-level features:
 
 \begin{enumerate}[noitemsep]

src/highlevel_feature_extractor.cpp

@@ -16,7 +16,7 @@ HighLevelFeatureExtractor::HighLevelFeatureExtractor(int num_teammates,
   assert(numOpponents >= 0);
   numFeatures = num_basic_features + features_per_teammate * numTeammates
       + features_per_opponent * numOpponents;
-  numFeatures++; // action status
+  numFeatures+=2; // action status, stamina
   feature_vec.resize(numFeatures);
 }
 
@@ -185,6 +185,7 @@ HighLevelFeatureExtractor::ExtractFeatures(const rcsc::WorldModel& wm,
   } else {
     addFeature(FEAT_MIN);
   }
+  addNormFeature(self.stamina(), 0., observedStaminaMax);
 
   assert(featIndx == numFeatures);
   // checkFeatures();