nimazareian
commented
3 months ago Another place which should be updated is:
Open nimazareian opened 10 months ago
nimazareian
commented
3 months ago Another place which should be updated is:
Description of the task
Currently we estimate ball's trajectory by assuming constant velocity, ignoring the sliding and rolling frictions of the ball. We should look into creating a new class which generates a realistic trajectory for the ball. This could help with a more accurate rolling/chip ball interception
https://github.com/UBC-Thunderbots/Software/blob/fe5f224d7ca35f4ed443108603995fb6e51a709a/src/software/ai/hl/stp/tactic/dribble/dribble_fsm.cpp#L27-L28
Should also probably update and use
Ball::estimateFutureStateinstead for interception calculations so we dont have multiple implementations https://github.com/UBC-Thunderbots/Software/blob/e8b08390284d306471a812dec5dee14b4951b2d7/src/software/world/ball.cpp#L62Could likely update
PassDefenderFSM::interceptBallto use a unified interception calculation using the ball trajectory https://github.com/UBC-Thunderbots/Software/blob/448661a55e28d885788d0a73332db1c68ec37375/src/software/ai/hl/stp/tactic/pass_defender/pass_defender_fsm.cpp#L55Other teams such as Tiger's support estimating the ball trajectory when it's rolling and when it's chipped.
https://github.com/TIGERs-Mannheim/Sumatra/blob/259774013fe5fef0c5eeff46db5f04c3f7d61f56/modules/common/src/main/java/edu/tigers/sumatra/ball/trajectory/chipped/ChipBallTrajectory.java#L32
https://github.com/TIGERs-Mannheim/Sumatra/blob/cb8ea325f3e5a1dcc719415fe697108e4705c8b7/modules/common/src/main/java/edu/tigers/sumatra/ball/trajectory/flat/FlatBallTrajectory.java#L31
I believe Zjunlict's TDP from a few years ago (and er forces 2016 TDP) also included some of their testing for ball trajectory estimation which we incorporated in our fork of ErForce sim in #2653.
Acceptance criteria
Ball::estimateFutureState