added goal obstacles

RoboJackets · Mar 11, 2024 · c32025a · c32025a
1 parent 41f8941
commit c32025a
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/rj_common/include/rj_common/field_dimensions.hpp b/rj_common/include/rj_common/field_dimensions.hpp
@@ -233,8 +233,8 @@ struct FieldDimensions {
         their_left_goal_post_coordinate_ = rj_geometry::Point(-goal_width_ / 2, length_);
         their_right_goal_post_coordinate_ = rj_geometry::Point(goal_width_ / 2, length_);
 
-        our_goal_area_ = rj_geometry::Rect(our_left_goal_post_coordinate_, our_right_goal_post_coordinate_ + goal_depth_);
-        their_goal_area_ = rj_geometry::Rect(their_left_goal_post_coordinate_, their_right_goal_post_coordinate_ - goal_depth_);
+        our_goal_area_ = rj_geometry::Rect(our_left_goal_post_coordinate_, our_right_goal_post_coordinate_ - rj_geometry::Point(0, goal_depth_));
+        their_goal_area_ = rj_geometry::Rect(their_left_goal_post_coordinate_, their_right_goal_post_coordinate_ + rj_geometry::Point(0, goal_depth_));
 
         our_left_corner_ = rj_geometry::Point(field_x_left_coord_, 0.0);
         our_right_corner_ = rj_geometry::Point(field_x_right_coord_, 0.0);

diff --git a/soccer/src/soccer/planning/global_state.cpp b/soccer/src/soccer/planning/global_state.cpp
@@ -85,6 +85,9 @@ rj_geometry::ShapeSet GlobalState::create_defense_area_obstacles() {
     auto our_goal_area{
         std::make_shared<rj_geometry::Rect>(last_field_dimensions_.our_goal_area())};
 
+    auto their_goal_area{
+        std::make_shared<rj_geometry::Rect>(last_field_dimensions_.their_goal_area())};
+
     //  auto their_goal_area{
     //     std::make_shared<rj_geometry::Rect>(last_field_dimensions_.our_goal_area())};   
 
@@ -107,6 +110,8 @@ rj_geometry::ShapeSet GlobalState::create_defense_area_obstacles() {
     def_area_obstacles.add(our_defense_area);
     def_area_obstacles.add(our_goal_area);
     def_area_obstacles.add(their_defense_area);
+    def_area_obstacles.add(their_goal_area);
+
 
     return def_area_obstacles;
 }