Defending added with minor fixes in util.functions #65
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Since there have been recent commits and Merges in fsm branch, there are merge conflicts. Resolve them. |
| @@ -94,8 +94,8 @@ def intersection_with_circle(self, circle): | |||
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| # CHECK ----> SLOPE | |||
| def intersection_with_line(self, line2): | |||
| if not isinstance(line, line2): | |||
| raise ValueError("Expected Line instance, got %s" %type(line2).__name__) | |||
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why this error handling is commented out?? If this is because of syntax error, isinstance(line2, Line) will be the correct syntax.
| x = point.x - (3.5 * BOT_RADIUS) * (math.cos(theta)) | ||
| y = point.y - (3.5 * BOT_RADIUS) * (math.sin(theta)) | ||
| x = point.x - (1*BOT_RADIUS) * (math.cos(theta)) | ||
| y = point.y - (1*BOT_RADIUS) * (math.sin(theta)) |
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Is bot able to reach the point returned by this function without colliding with ball?
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He's using the getPointBehindBall, during intercept state, where defender is supposed to be ready to kick and clear the ball, I guess. Hence the small radius. But yeah we might have to increase it, if required.
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this function can also be used to find a point by the attacker to kick towards the goal. Now if bot is in between the region of ball and goal post, attacker needs to cross the ball hence a point at sufficient distance is required otherwise path planner replans the path at every instant assuming ball as an obstacle
| def getPointBehindTheBall(point, theta): | ||
| x = point.x - (1*BOT_RADIUS) * (math.cos(theta)) | ||
| y = point.y - (1*BOT_RADIUS) * (math.sin(theta)) | ||
| return Vector2D(int(x), int(y)) |
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Yeah, a merge with fsm branch to get this branch updated will fix this.
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| import memcache | ||
| shared = memcache.Client(['127.0.0.1:11211'],debug=True) |
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remove unwanted import statements and memcache if not required
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creating two files of defender for different positions isn't a good way to do this. You should create a class for Defender and pass arguments to place it at different position |
| if dist(awayPos,getPointBehindTheBall(ball,math.pi))/MAX_BOT_SPEED<opp_time: | ||
| opp_time=dist(awayPos,getPointBehindTheBall(ball,math.pi))/MAX_BOT_SPEED | ||
| our_time=dist(self.kub.state.homePos[2],getPointBehindTheBall(ball,0))/MAX_BOT_SPEED | ||
| if our_time > dist(self.kub.state.homePos[1],getPointBehindTheBall(ball,0))/MAX_BOT_SPEED: |
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you shouldnt hardcode BotID like this
Three new files added :
Also minor bugs fixed in utils.functions