Annie/enemy goa #3409
Annie/enemy goa #3409
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annieisawesome2
requested review from
itsarune,
williamckha and
sauravbanna
as code owners
itsarune
requested review from
mkhlb,
a team,
Lmh-java and
wmostrenko
and removed request for
a team
| obstacles.push_back(std::make_shared<GeomObstacle<Stadium>>(Stadium( | ||
| Segment(goal.negXPosYCorner(), goal.negXNegYCorner()), goal_obstacle_radius))); |
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unfortunately, this specific obstacle doesn't work in both situations. In the friendly net, the back wall is from negXPosYCorner to negXNegYCorner but for the enemy net, the back wall is from posXPosYCorner to posXNegYCorner. It might be better to pass in the coordinates of the back wall directly to this function and create this line segment. The other obstacles seems fine.
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I will fix that, thank you!
| @@ -27,6 +28,7 @@ def get_validation_status(self, world) -> ValidationStatus: | |||
| ): | |||
| return ValidationStatus.PASSING | |||
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| self.ball_position = world.ball.current_state.global_position | |||
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can you move this to line 25?
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Yes I'll do that!
| @@ -155,6 +175,7 @@ RobotNavigationObstacleFactory::createObstaclesFromMotionConstraints( | |||
| return obstacles; | |||
| } | |||
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Super small change but maybe remove this extra line to stay consistent with spacing throughout the rest of the file.
| @@ -107,29 +107,24 @@ RobotNavigationObstacleFactory::createObstaclesFromMotionConstraint( | |||
| createFromShape(Circle(world.ball().position(), 0.5))); | |||
| } | |||
| break; | |||
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Super small change but maybe remove this extra line to stay consistent with spacing throughout the rest of the file.
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Description
Added a new helper method within robot_navigation_obstacle_factory in which both FRIENDLY_GOAL and ENEMY_GOAL uses for motion constraints. Method added within interface: createGoalObstacles. The method creates a set of obstacles for a specified goal (either friendly goal or enemy goal).
Testing Done
Added two tests where starting point is initially in friendly or enemy net and ball is brought out of the net. Ran ball_placement_play_test with build successful.
Resolved Issues
resolves #3356
Length Justification and Key Files to Review
Review Checklist
It is the reviewers responsibility to also make sure every item here has been covered
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue