[Fwd: [robocup-sim] rcssserver 14.0.1 released] (rc-simjp 632) - Open Zeng

2Dの皆様

秋山＠産総研です．

rcssserver-14.0.1をリリースしました．
キャッチモデルの実装ミスが修正されたので，14.0.0を使っている場合は
14.0.1へ移行してください．

-------- Original Message --------
Subject: [robocup-sim] rcssserver 14.0.1 released
Date: Fri, 13 Nov 2009 18:01:33 +0900
From: Hidehisa Akiyama <hideh****@aist*****>
To: robocup-sim <roboc****@cc*****>

Dear 2D teams,

rcssserver 14.0.1 is available.

  https://sourceforge.net/projects/sserver/files/

This version fixes the problem of new catch model.
Please discard rcssserver-14.0.0 and use 14.0.1.
Thanks Bruno for reporting the problem.

The following pseudo code shows a corrected trade-off rule:

     // catchable_area_l_stretch is the heterogeneous parameter,
     // currenlty within [1.0,1.3]
     double this_catchable_are_delta
       = server::catchable_area_l * ( catchable_area_l_stretch - 1.0 );
     double this_catchable_area_l_max =   server::catchable_area_l
                                        + this_catchable_are_delta;
     double this_catchable_area_l_min =   server::catchable_area_l
                                        - this_catchable_are_delta;

     if ( ball_pos is inside the MINIMAL catch area )
     {
       // the MINIMAL catch area has a length of
       // this_catchable_area_l_min and width server::catchable_area_w
       //
       // goalie catches the ball with probability
       // server::catch_probability (which is 1.0 by default)
     }
     else if ( ball_pos is beyond the MAXIMAL (stretched) area )
     {
       // the MAXIMAL catch area has a length of
       // this_catchable_area_l_max and width server::catchable_area_w
       //
       // goalie definitely misses the ball
     }
     else
     {
        double ball_relative_x = ( ball_pos - goalie_pos )
                                 .rotate( -(goalie_body + catch_dir) ).x;
        double catch_prob
          = server::catch_probability
            - server::catch_probability
              *   ( ball_relative_x - this_catchable_area_l_min )
                / ( this_catchable_area_l_max - this_catchable_area_l_min );
        // goalie catches the ball with probability catch_prob
        // it holds: catch_prob is in [0.0,1.0]
     }

Regards,

-- 
 Hidehisa Akiyama
 hideh****@aist*****

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-- 
 Hidehisa Akiyama
 hideh****@aist*****

Open Zeng

[rc-simjp 632] [Fwd: [robocup-sim] rcssserver 14.0.1 released]