Shadow Defense Base #3450
Shadow Defense Base #3450
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Co-authored-by: William Ha <[email protected]>
Co-authored-by: William Ha <[email protected]>
…e and turn it to a shadower
…er is always confident that someone has ball, also adding a simple test that is to be fixed
…e threshold for is near dribble
zuperzane
requested review from
itsarune,
williamckha and
sauravbanna
as code owners
…t going to remove it for now and see if tests pass
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| DefensePlayFSM::DefensePlayFSM(TbotsProto::AiConfig ai_config) | ||
| : DefensePlayFSMBase::DefensePlayFSMBase(ai_config) | ||
| { | ||
| } | ||
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| void DefensePlayFSM::defendAgainstThreats(const Update& event) | ||
| bool DefensePlayFSM::shouldDefendAggressively(const Update& event) |
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lmao why have this check at all?
| LOG(WARNING) << "Enemy threat not initialized for robot " << event.common.robot.id() | ||
| << "\n"; | ||
| bool near_ball = distance(event.common.world_ptr->ball().position(), | ||
| enemy_threat_opt.value().robot.position()) < 0.22; |
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avoid magic numbers. You should use a constant. See the code style guide: https://github.com/UBC-Thunderbots/Software/blob/master/docs/code-style-guide.md
src/software/ai/hl/stp/tactic/shadow_enemy/shadow_enemy_fsm.cpp
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| // OK so basically you need to change thresholds for how close | ||
| ////in robot.h there is a isneardribbler function u can use instead of this breakbeams | ||
| /// stuff |
| // OK so basically you need to change thresholds for how close | ||
| ////in robot.h there is a isneardribbler function u can use instead of this breakbeams | ||
| /// stuff | ||
| bool robot_contesting = distance(event.common.world_ptr->ball().position(), |
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why not use event.common.robot.isNearDribbler()
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I think it was due to me not wanting to change the code for the is near dribbler because I think it always undershot the ball but it's probably a good idea, also do u know if we are gonna have the brake beam be added cuz that would be like so cool to have here as a condition instead of having to rely on vision which would be pretty bad especially with robots fighting
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isNearDribbler has an optional tolerance threshold you can pass, so you can make it tighter just for this code (i.e. you can call event.common.robot.isNearDribbler(ball_position, 0.22))
#3344 is an issue that's tracking breakbeam status. I am not sure if @Andrewyx is currently working on it, but if you have time, you can try asking to work on it
| auto pull_to_here = | ||
| (event.common.robot.position() - ball_position) * 2 + ball_position; |
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why do we need both goAndSteal AND stealAndPull?
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I also can't really tell where we are trying to move the ball to, I think you should add some document explaining where we're trying to move the ball
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you should port this to a tactic pytest. This is a pytest that tests specifically only the tactic whereas defense_play_test tests the entire play.
Here's an example of what one would look like: https://github.com/UBC-Thunderbots/Software/blob/master/src/software/ai/hl/stp/tactic/crease_defender/crease_defender_tactic_test.py
Corner fix Co-authored-by: itsarune <[email protected]>
resolves #3357
Testing involves a py test added to defense test and a shadow fsm test
Resolved defense lack of aggressiveness
[x]New Tests
[x]New Tactic
[ ]Unable to test in real life, possible when robots free
TODO(or similar) statements should either be completed or associated with a github issueMaybe make another TODO that has to do with editing the function on line 15
in src/software/ai/hl/stp/play/defense/defense_play_fsm.cpp
It should make a better decision as to when to start acting like a shadower vs just always taking any passing defender and as soon as they're between the ball and the net acting like shadower. Maybe if it also had nobody to pass to or nowhere to go I'm not sure I could do that for this todo if that makes more sense tho.