Merge pull request #2 from Cyrus2D/develop_nader_denoise_for_test

Develop nader denoise for test

Author: naderzare

rcsc/player/abstract_player_object.h

@@ -56,6 +56,8 @@ class AbstractPlayerObject {
 
     //! type of pointer container
     typedef std::vector< const AbstractPlayerObject * > Cont;
+    Vector2D M_pos; //!< global coordinate
+    Vector2D M_base_pos; //!< global coordinate
 
 protected:
 
@@ -69,7 +71,7 @@ class AbstractPlayerObject {
     const PlayerType * M_player_type; //!< player type reference
     Card M_card; //!< card information
 
-    Vector2D M_pos; //!< global coordinate
+
     int M_pos_count; //!< main accuracy counter
 
     Vector2D M_seen_pos; //!< last seen global coordinate

rcsc/player/ball_object.cpp

@@ -79,7 +79,9 @@ BallObject::BallObject()
       M_lost_count( 0 ),
       M_ghost_count( 0 ),
       M_dist_from_self( 1000.0 ),
-      M_angle_from_self( 0.0 )
+      M_angle_from_self( 0.0 ),
+      M_seen_dist(1000.),
+      M_seen_angle(-360.)
 {
 
 }

rcsc/player/ball_object.h

@@ -59,6 +59,10 @@ class SelfObject;
   -> updateSelfRelated()
 */
 class BallObject {
+public:
+    Vector2D M_pos; //!< estimated global position
+    Vector2D M_base_pos;
+    
 private:
     //! validation count threshold value for M_pos
     static int S_pos_count_thr;
@@ -67,7 +71,6 @@ class BallObject {
     //! validation count threshold value for M_vel
     static int S_vel_count_thr;
 
-    Vector2D M_pos; //!< estimated global position
     Vector2D M_pos_error; //!< estimated error of global position
     int M_pos_count; //!< cycle count since the last observation
 
@@ -99,6 +102,9 @@ class BallObject {
     double M_dist_from_self; //!< estimated distance from self
     AngleDeg M_angle_from_self; //!< estimated global angle from self
 
+    double M_seen_dist;
+    double M_seen_angle;
+
 
     std::list< Vector2D > M_pos_history;
 
@@ -474,6 +480,21 @@ class BallObject {
                                       vel(),
                                       ServerParam::i().ballDecay() );
       }
+    
+    double seen_dist() const
+    {
+          return M_seen_dist;
+    }
+
+    double seen_angle() const
+    {
+          return M_seen_angle;
+    }
+
+    void set_seen_info(const double& seen_dist, const double& seen_angle){
+          M_seen_dist = seen_dist;
+          M_seen_angle = seen_angle;
+    }
 
 };
 

rcsc/player/localization.h

@@ -70,6 +70,9 @@ class Localization {
 
         double dist_error_; //!< seen distance error
 
+        double seen_dist;
+        double seen_angle;
+
         /*!
           \brief init member variables by error value
         */
@@ -87,7 +90,9 @@ class Localization {
               pointto_( false ),
               kicking_( false ),
               tackle_( false ),
-              dist_error_( 0.0 )
+              dist_error_( 0.0 ),
+              seen_dist(1000),
+              seen_angle(-360)
           { }
 
         /*!

rcsc/player/localization_default.cpp

@@ -1475,6 +1475,9 @@ LocalizationDefault::localizePlayer( const VisualSensor::PlayerT & from,
     to->rpos_.x = average_dist * AngleDeg::cos_deg( average_dir );
     to->rpos_.y = average_dist * AngleDeg::sin_deg( average_dir );
 
+    to->seen_dist = from.dist_;
+    to->seen_angle = self_face + from.dir_;
+
     // set distance error
     to->dist_error_ = dist_error;
 

rcsc/player/player_agent.cpp

@@ -2444,6 +2444,9 @@ PlayerAgent::Impl::analyzeWarning( const char * msg )
 /*!
 
  */
+
+void PlayerAgent::update_player_by_denoiser(){}
+
 void
 PlayerAgent::action()
 {
@@ -2484,14 +2487,20 @@ PlayerAgent::action()
     // ------------------------------------------------------------------------
     // last update
     // update positining matrix, offside line, defense line, etc.
-    M_worldmodel.updateJustBeforeDecision( effector(),
-                                           M_impl->current_time_ );
     if ( config().debugFullstate()
          && M_fullstate_worldmodel.isValid() )
     {
-        M_fullstate_worldmodel.updateJustBeforeDecision( effector(),
-                                                         M_impl->current_time_ );
+        M_fullstate_worldmodel.updateJustBeforeDecision1( effector(),
+                                                          M_impl->current_time_ );
+        M_fullstate_worldmodel.updateJustBeforeDecision2( effector(),
+                                                          M_impl->current_time_ );
     }
+    M_worldmodel.updateJustBeforeDecision1( effector(),
+                                            M_impl->current_time_ );
+    update_player_by_denoiser();
+    M_worldmodel.updateJustBeforeDecision2( effector(),
+                                            M_impl->current_time_ );
+
 
     // reset last action effect
     M_effector.reset();

rcsc/player/player_agent.h

@@ -142,6 +142,10 @@ class PlayerAgent
           return M_worldmodel;
       }
 
+    WorldModel & world_not_const()
+      {
+          return M_worldmodel;
+      }
     /*!
       \brief get fullstate worldmodel
       \return const reference to fullstate world model instance
@@ -367,6 +371,7 @@ class PlayerAgent
     */
     void action();
 
+    virtual void update_player_by_denoiser();
 protected:
 
     /*!

rcsc/player/player_object.cpp

@@ -60,7 +60,9 @@ int PlayerObject::S_player_count = 0;
 PlayerObject::PlayerObject()
     : AbstractPlayerObject( ++S_player_count ),
       M_ghost_count( 0 ),
-      M_tackle_count( 1000 )
+      M_tackle_count( 1000 ),
+      M_seen_dist(1000),
+      M_seen_angle(-360)
 {
 
 }
@@ -76,6 +78,8 @@ PlayerObject::PlayerObject( const SideID side,
       M_tackle_count( 1000 )
 {
     M_dist_from_self = p.rpos_.r();
+    M_seen_dist = p.seen_dist;
+    M_seen_angle = p.seen_angle;
 
     if ( p.hasVel() )
     {
@@ -220,6 +224,9 @@ PlayerObject::updateBySee( const SideID side,
     M_side = side;
     M_ghost_count = 0;
 
+    M_seen_dist = p.seen_dist;
+    M_seen_angle = p.seen_angle;
+
     // unum is updated only when unum is seen.
     if ( p.unum_ != Unum_Unknown )
     {

rcsc/player/player_object.h

@@ -58,7 +58,7 @@ class PlayerObject
     typedef std::list< PlayerObject > List;
 
     //! type of the player object pointer container
-    typedef std::vector< const PlayerObject * > Cont;
+    typedef std::vector< PlayerObject * > Cont;
 
 
 private:
@@ -77,6 +77,9 @@ class PlayerObject
 
     std::list< Vector2D > M_pos_history;
 
+    double M_seen_dist;
+    double M_seen_angle;
+
 public:
 
     /*!
@@ -306,6 +309,15 @@ class PlayerObject
     */
     void forget();
 
+    double seen_dist() const
+    {
+          return M_seen_dist;
+    }
+
+    double seen_angle() const
+    {
+          return M_seen_angle;
+    }
 };
 
 }

rcsc/player/world_model.cpp

@@ -2144,8 +2144,8 @@ WorldModel::updatePlayerStaminaByHear()
 
  */
 void
-WorldModel::updateJustBeforeDecision( const ActionEffector & act,
-                                      const GameTime & current )
+WorldModel::updateJustBeforeDecision1( const ActionEffector & act,
+                                       const GameTime & current )
 {
     if ( time() != current )
     {
@@ -2188,6 +2188,12 @@ WorldModel::updateJustBeforeDecision( const ActionEffector & act,
     }
 #endif
 
+}
+
+void
+WorldModel::updateJustBeforeDecision2( const ActionEffector & act,
+                                       const GameTime & current )
+{
     updateOurOffenseLine();
     updateOurDefenseLine();
     updateTheirOffenseLine();
@@ -2208,7 +2214,6 @@ WorldModel::updateJustBeforeDecision( const ActionEffector & act,
                                 M_intercept_table->teammateReachCycle(),
                                 M_intercept_table->opponentReachCycle() );
 }
-
 /*-------------------------------------------------------------------*/
 /*!
 
@@ -2432,6 +2437,8 @@ WorldModel::localizeBall( const VisualSensor & see,
         return;
     }
 
+    M_ball.set_seen_info(see.balls().front().dist_, self().face().degree() + see.balls().front().dir_);
+
     if ( ! rpos.isValid() )
     {
 #ifdef DEBUG_PRINT_BALL_UPDATE