Merge branch 'robocup_2019' of github.com:UBC-Thunderbots/Software into robocup_2019

Author: jordanzliu

src/thunderbots/software/ai/hl/stp/play/corner_kick_play.cpp

@@ -130,6 +130,13 @@ void CornerKickPlay::getNextTactics(TacticCoroutine::push_type &yield)
     PassGenerator pass_generator(world, world.ball().position(),
                                  PassType::ONE_TOUCH_SHOT);
 
+    // Target any pass in the enemy half of the field, shifted up by 1 meter
+    // from the center line
+    pass_generator.setTargetRegion(Rectangle(
+            Point(1, world.field().width()/2),
+            world.field().enemyCornerNeg()
+            ));
+
     std::pair<Pass, double> best_pass_and_score_so_far =
         pass_generator.getBestPassSoFar();
 

src/thunderbots/software/ai/hl/stp/tactic/goalie_tactic.cpp

@@ -146,8 +146,11 @@ void GoalieTactic::calculateNextIntent(IntentCoroutine::push_type &yield)
 
         // compute intersection points from ball position and velocity
         Ray ball_ray = Ray(ball.position(), ball.velocity());
+
+        const Point neg_goal_line_inflated = field.friendlyGoalpostNeg() + Point(0,-0.05);
+        const Point pos_goal_line_inflated = field.friendlyGoalpostPos() + Point(0,0.05);
         Segment full_goal_segment =
-            Segment(field.friendlyGoalpostNeg(), field.friendlyGoalpostPos());
+            Segment(neg_goal_line_inflated, pos_goal_line_inflated);
 
         auto [intersection1, intersection2] =
             raySegmentIntersection(ball_ray, full_goal_segment);

src/thunderbots/software/ai/navigator/path_planning_navigator/path_planning_navigator.cpp

@@ -175,14 +175,17 @@ std::vector<std::unique_ptr<Primitive>> PathPlanningNavigator::getAssignedPrimit
         intent->accept(*this);
         if (this->current_robot)
         {
-            this->velocity_obstacles.emplace_back(
-                Obstacle::createVelocityObstacleWithScalingParams(
-                    this->current_robot->position(), this->current_destination,
-                    this->current_robot->velocity().len(),
-                    Util::DynamicParameters::Navigator::robot_obstacle_inflation_factor
-                        .value(),
-                    Util::DynamicParameters::Navigator::velocity_obstacle_inflation_factor
-                        .value()));
+            if(this->current_robot->velocity().len()>0.3)
+            {
+                this->velocity_obstacles.emplace_back(
+                    Obstacle::createVelocityObstacleWithScalingParams(
+                        this->current_robot->position(), this->current_destination,
+                        this->current_robot->velocity().len(),
+                        Util::DynamicParameters::Navigator::robot_obstacle_inflation_factor
+                            .value(),
+                        Util::DynamicParameters::Navigator::velocity_obstacle_inflation_factor
+                            .value()));
+            }
 
             this->current_robot = std::nullopt;
         }

src/thunderbots/software/launch/ai.launch

@@ -14,7 +14,7 @@
     </node>
 
     <!-- Launch the ai logic node -->
-    <node name="ai_logic" pkg="thunderbots" type="ai_logic" output="screen" respawn="false">
+    <node name="ai_logic" pkg="thunderbots" type="ai_logic" output="screen" respawn="true">
     </node>
 
     <!-- Launch the dynamic parameters node -->

src/thunderbots/software/util/parameter/config/ai.yaml

@@ -367,7 +367,7 @@ ShootOrPassPlay:
   min_open_angle_for_shot_deg:
     min: 0.0
     max: 90.0
-    default: 4
+    default: 6
     type: double
     description: The minimum open angle to the goal that we require before taking a shot
 HighLevelStrategy: