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LARG / HFO

Half Field Offense in Robocup 2D Soccer
MIT License
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Low-level Center Field (31-33) Landmark is not center of HFO playable area #37

Closed drallensmith closed 7 years ago

drallensmith commented 7 years ago

It is actually the center of the RoboCup playable area. In lowlevel_feature_extractor.cpp:

// Corners of the playable area rcsc::Vector2D centerField(0, 0)

That should be something like centerField((pitchHalfLength/2), 0).

The only problem I can see with simply fixing it is that it would mess up agents - in particular learning agents - that are using it already.

mhauskn commented 7 years ago

Yes, this is the center of the entire field (rather than the playable HFO area). As such, it is the midpoint of the left field boundary of the HFO area. It probably should be better clarified as such, but I don't think it's a problem.

drallensmith commented 7 years ago

OK, will fix as part of my current documentation work. (It's a problem if one doesn't realize this and bases testing code on the other interpretation... this resulted in a player using Dash and the center_angle landmark to go to a different place than one using Move_To and 0,0.)