Commit b76b2311 authored by MarkG's avatar MarkG Committed by TIGERs GitLab
Browse files

[#1595] Implement a new pass interception algorithm

Closes #1595

See merge request main/Sumatra!1393

sumatra-commit: 1209677e78ed415486a0c4d6973a00cb6c510a7c
parent 3aeb1f80
Pipeline #16803 passed with stage
in 6 minutes and 40 seconds
......@@ -12,17 +12,17 @@ import com.sleepycat.persist.model.Persistent;
@Persistent
public class BotMovementLimits implements IBotMovementLimits
{
private double velMax = 2;
private double accMax = 3;
private double brkMax = 6;
private double jerkMax = 20;
private double velMax = 0.1;
private double accMax = 0.1;
private double brkMax = 0.1;
private double jerkMax = 0.1;
private double velMaxW = 20;
private double accMaxW = 50;
private double jerkMaxW = 1000;
private double velMaxW = 0.1;
private double accMaxW = 0.1;
private double jerkMaxW = 0.1;
private double velMaxFast = 3;
private double accMaxFast = 4;
private double velMaxFast = 0.1;
private double accMaxFast = 0.1;
/**
......
......@@ -473,6 +473,12 @@ public class GameState
}
public boolean isFreeKickForUs()
{
return isFreeKick() && isGameStateForUs();
}
/**
* @return true if this is an INDIRECT_FREE for them.
*/
......
/*
* Copyright (c) 2009 - 2020, DHBW Mannheim - TIGERs Mannheim
* Copyright (c) 2009 - 2021, DHBW Mannheim - TIGERs Mannheim
*/
package edu.tigers.sumatra.wp.data;
......@@ -85,7 +85,9 @@ public class WorldFrame extends SimpleWorldFrame
.filter(bot -> bot.getBotId().getTeamColor() == aiTeam.getTeamColor().opposite())
.filter(bot -> Geometry.getFieldWBorders().isPointInShape(bot.getPos()))
.map(bot -> {
RobotInfo info = RobotInfo.stub(bot.getBotId(), bot.getTimestamp());
RobotInfo info = RobotInfo.stubBuilder(bot.getBotId(), bot.getTimestamp())
.withBotParams(bot.getRobotInfo().getBotParams())
.build();
return TrackedBot.newCopyBuilder(bot)
.withBotInfo(info)
.withState(bot.getFilteredState().orElse(bot.getBotState()))
......
......@@ -514,7 +514,7 @@ public class FieldPanel extends JPanel implements IDrawableTool
private void paintCoordinates(final Graphics2D g, final ETeamColor teamColor,
final int width, final int height, final boolean inverted)
{
int fontSize = ScalingUtil.getFontSize(EFontSize.SMALL);
int fontSize = ScalingUtil.getFontSize(EFontSize.LARGE);
g.setStroke(new BasicStroke());
g.setFont(new Font("", Font.PLAIN, fontSize));
......
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