Searcher Standing Delay - #1735
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looks good, only need to fix test cases
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Is this ready to be merged? I recall there was some issue with this?
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Right now it fixes the linked issue and should work. TODO (for next issue?) is to refactor behaviour to only have one last_role variable (and not |
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Storing the last role is rewritten and the behaviour can still be observed in the behaviour simulator |
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move functionality of delayed movement of defender that became earcher in searcher make the standing time after role change dynamic depending on last known ball posiiton add senario and fmt rename variable undo change of if condition add new edge detection change ball position in passive_defender_positioning
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@paudar merge when ready |
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* add timeout for defender to become searcher move functionality of delayed movement of defender that became earcher in searcher make the standing time after role change dynamic depending on last known ball posiiton add senario and fmt rename variable undo change of if condition add new edge detection change ball position in passive_defender_positioning * only affect searchers that where defender * add check for y-position of searcher * fmt file * stand only when in own half * make previous role the real previous role * forever keeper * more edge-cases in standing seracher bevi_test * change bevihavior scenario * add aditional assertion at standing_searcher bevytest * add assertions to bevihavior standing_searcher * change parameter for later search motion
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Why? What?
Suppress turning of a searcher for a dynamic time after role assignment.
The time depends on the distance to the last known ball position and is scaled with an parameter to estimate a hypothetical ball velocity in m/s towards the robot. The effect only applies in the own half of the field and in the y-coordinates of the penalty box.
Fixes #1395
The way of keeping track of the last role was rewritten to be able to store the time of the last role change.
Ideas for Next Iterations (Not This PR)
Differentiate, weather the last seen ball is in the opponent-half of the field or not.
How to Test
You can see the effects in the
standing_searcher-scenario (incl. defender to searcher change after penalty or in opponent half).