Robo cup

See merge request main/Sumatra!1155

sumatra-commit: 2ce9f8dccde73e3a4d97b2da485c02ff4e17bb38

modules/moduli-vision/src/main/java/edu/tigers/sumatra/vision/VisionFilterImpl.java

@@ -55,7 +55,7 @@ public class VisionFilterImpl extends AVisionFilter
 	@SuppressWarnings("unused")
 	private static final Logger log = Logger.getLogger(VisionFilterImpl.class.getName());
 
-	private static final long CLOCK_DT = 10_000_000;
+	private static final long CLOCK_DT = 12_500_000;
 
 	private final BallFilterPreprocessor ballFilterPreprocessor = new BallFilterPreprocessor();
 	private final BallFilter ballFilter = new BallFilter();

modules/moduli-vision/src/main/java/edu/tigers/sumatra/vision/data/EVisionFilterShapesLayer.java

@@ -16,7 +16,7 @@ public enum EVisionFilterShapesLayer implements IShapeLayer
 	QUALITY_SHAPES("Quality Inspector"),
 	CAM_INFO_SHAPES("Cam Info"),
 	VIEWPORT_SHAPES("Viewports"),
-	ROBOT_TRACKER_SHAPES("Robot Trackers", false, EShapeLayerPersistenceType.NEVER_PERSIST),
+	ROBOT_TRACKER_SHAPES("Robot Trackers", false, EShapeLayerPersistenceType.ALWAYS_PERSIST),
 	ROBOT_QUALITY_INSPECTOR("Robot Quality Inspector"),
 	BALL_TRACKER_SHAPES_IMPORTANT("Ball Trackers"),
 	BALL_TRACKER_SHAPES("Ball Trackers Debug", false, EShapeLayerPersistenceType.NEVER_PERSIST),

modules/moduli-wp/src/main/java/edu/tigers/sumatra/wp/util/BallLeftFieldCalculator.java

@@ -20,33 +20,33 @@ public class BallLeftFieldCalculator
 {
 	@Configurable(comment = "Time [s] to wait before using ball positions, invaliding all positions just before a chip kick", defValue = "0.3")
 	private static double maxTimeToDetectChipKick = 0.3;
-	
-	@Configurable(comment = "Time [s] between two ball positions to pass before comparing them in order to check if the ball left the field")
+
+	@Configurable(comment = "Time [s] between two ball positions to pass before comparing them in order to check if the ball left the field", defValue = "0.05")
 	private static double minComparisonTimeSpan = 0.05;
-	
+
 	static
 	{
 		ConfigRegistration.registerClass("wp", BallLeftFieldCalculator.class);
 	}
-	
+
 	private final LinkedList<TimedPosition> ballPosBuffer = new LinkedList<>();
 	private TimedPosition lastBallLeftFieldPosition = null;
 	private boolean ballInsideField = true;
 	private long chipStartTime;
-	
-	
+
+
 	public BallLeftFieldPosition process(final SimpleWorldFrame wFrame)
 	{
 		reduceBallPosBuffer(wFrame.getTimestamp());
 		addToBallPosBuffer(wFrame);
 		removeFirstChippedBallPositions(wFrame);
 		updateDetection(wFrame);
-		
+
 		return lastBallLeftFieldPosition == null ? null
 				: new BallLeftFieldPosition(lastBallLeftFieldPosition, currentType());
 	}
-	
-	
+
+
 	private BallLeftFieldPosition.EBallLeftFieldType currentType()
 	{
 		if (Math.abs(lastBallLeftFieldPosition.getPos().x()) < Geometry.getFieldLength() / 2)
@@ -54,7 +54,7 @@ public class BallLeftFieldCalculator
 			return BallLeftFieldPosition.EBallLeftFieldType.TOUCH_LINE;
 		}
 		boolean overGoal = lastBallLeftFieldPosition.getPos3().z() > Geometry.getGoalHeight();
-		
+
 		for (Goal goal : Geometry.getGoals())
 		{
 			if (goal.getLineSegment().isPointOnLine(lastBallLeftFieldPosition.getPos()))
@@ -65,19 +65,19 @@ public class BallLeftFieldCalculator
 		}
 		return BallLeftFieldPosition.EBallLeftFieldType.GOAL_LINE;
 	}
-	
-	
+
+
 	private void updateDetection(final SimpleWorldFrame wFrame)
 	{
 		TimedPosition prePos = ballPosBuffer.peekLast();
 		TimedPosition postPos = firstValidBallPos(wFrame.getTimestamp());
-		
+
 		if (lastBallLeftFieldPosition != null
 				&& Math.abs(wFrame.getTimestamp() - lastBallLeftFieldPosition.getTimestamp()) / 1e9 > 2)
 		{
 			lastBallLeftFieldPosition = null;
 		}
-		
+
 		if (prePos != null && postPos != null
 				&& (postPos.getTimestamp() - prePos.getTimestamp()) / 1e9 >= minComparisonTimeSpan)
 		{
@@ -96,8 +96,8 @@ public class BallLeftFieldCalculator
 			}
 		}
 	}
-	
-	
+
+
 	private TimedPosition firstValidBallPos(final long timestamp)
 	{
 		for (TimedPosition timedPosition : ballPosBuffer)
@@ -109,8 +109,8 @@ public class BallLeftFieldCalculator
 		}
 		return null;
 	}
-	
-	
+
+
 	private void removeFirstChippedBallPositions(final SimpleWorldFrame wFrame)
 	{
 		if (wFrame.getBall().isChipped())
@@ -129,15 +129,15 @@ public class BallLeftFieldCalculator
 			chipStartTime = 0;
 		}
 	}
-	
-	
+
+
 	private void addToBallPosBuffer(final SimpleWorldFrame frame)
 	{
 		TimedPosition pos = new TimedPosition(frame.getTimestamp(), frame.getBall().getPos3());
 		ballPosBuffer.offerFirst(pos);
 	}
-	
-	
+
+
 	private void reduceBallPosBuffer(final long currentTimestamp)
 	{
 		ballPosBuffer.removeIf(t -> t.getTimestamp() > currentTimestamp);
@@ -153,8 +153,8 @@ public class BallLeftFieldCalculator
 			}
 		}
 	}
-	
-	
+
+
 	public void reset()
 	{
 		lastBallLeftFieldPosition = null;