Getting robot radius from SSL-vision

RoboTeamTwente · Mar 18, 2024 · 2df1ef2 · 2df1ef2
1 parent 8e83815
commit 2df1ef2
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Showing 4 changed files with 18 additions and 8 deletions.
diff --git a/src/main/java/nl/roboteamtwente/autoref/SSLAutoRef.java b/src/main/java/nl/roboteamtwente/autoref/SSLAutoRef.java
@@ -54,11 +54,11 @@ public void processWorldState(StateOuterClass.State statePacket) {
         deriveRefereeMessage(game, statePacket);
         deriveBall(game, world);
         for (WorldRobotOuterClass.WorldRobot robot : world.getBlueList()) {
-            deriveRobot(game, TeamColor.BLUE, robot);
+            deriveRobot(game, TeamColor.BLUE, robot, statePacket);
         }
 
         for (WorldRobotOuterClass.WorldRobot robot : world.getYellowList()) {
-            deriveRobot(game, TeamColor.YELLOW, robot);
+            deriveRobot(game, TeamColor.YELLOW, robot, statePacket);
         }
         deriveTeamData(game, statePacket);
         deriveField(game, statePacket);
@@ -194,7 +194,7 @@ private void deriveBall(Game game, WorldOuterClass.World world) {
      * @param teamColor  team color
      * @param worldRobot robot
      */
-    private void deriveRobot(Game game, TeamColor teamColor, WorldRobotOuterClass.WorldRobot worldRobot) {
+    private void deriveRobot(Game game, TeamColor teamColor, WorldRobotOuterClass.WorldRobot worldRobot, StateOuterClass.State statePacket) {
         Robot robot = game.getTeam(teamColor).getRobotById(worldRobot.getId());
         if (robot == null) {
             robot = new Robot(worldRobot.getId());
@@ -206,6 +206,12 @@ private void deriveRobot(Game game, TeamColor teamColor, WorldRobotOuterClass.Wo
         robot.getPosition().setY(worldRobot.getPos().getY());
         robot.getVelocity().setX(worldRobot.getVel().getX());
         robot.getVelocity().setY(worldRobot.getVel().getY());
+        if (teamColor == TeamColor.BLUE) {
+            robot.setRadius(statePacket.getBlueRobotParameters().getParameters().getRadius());
+            System.out.println(robot.getRadius());
+        } else {
+            robot.setRadius(statePacket.getYellowRobotParameters().getParameters().getRadius());
+        }
         robot.setAngle(worldRobot.getAngle());
     }
 

diff --git a/src/main/java/nl/roboteamtwente/autoref/model/Robot.java b/src/main/java/nl/roboteamtwente/autoref/model/Robot.java
@@ -14,7 +14,7 @@ public class Robot extends Entity {
     /**
      * Maximum radius of the robot in meters
      */
-    private final double radius = 0.09;
+    private float radius;
 
     /**
      * A robot has an angle that it is facing during any point of the game.
@@ -128,11 +128,15 @@ public RobotIdentifier getIdentifier() {
         return new RobotIdentifier(team.getColor(), id);
     }
 
+    public void setRadius(float r) {
+        this.radius = r;
+    }
+
     /**
      * 
      * @return radius of robot
      */
-    public double getRadius() {
+    public float getRadius() {
         return radius;
     }
 

diff --git a/...ain/java/nl/roboteamtwente/autoref/validators/AttackerTooCloseToDefenseAreaValidator.java b/...ain/java/nl/roboteamtwente/autoref/validators/AttackerTooCloseToDefenseAreaValidator.java
@@ -86,10 +86,10 @@ public RuleViolation validate(Game game) {
 
                     if (abs(robotY) - robot.getRadius() < abs(lineY)) {
                         // Robot is in front of the line
-                        distance = lineX - (robotX + (float) robot.getRadius());
+                        distance = lineX - (robotX + robot.getRadius());
                     } else if (robotX > lineX) {
                         // Robot is above or below the defender area, within 0.2m
-                        distance = abs(robotY) - (float) robot.getRadius() - abs(lineY);
+                        distance = abs(robotY) - robot.getRadius() - abs(lineY);
                     }
 
                     // Check if robot is within one of the corners and calculate distance to the corner

diff --git a/src/main/java/nl/roboteamtwente/autoref/validators/DefenderTooCloseToKickPointValidator.java b/src/main/java/nl/roboteamtwente/autoref/validators/DefenderTooCloseToKickPointValidator.java
@@ -42,7 +42,7 @@ public RuleViolation validate(Game game) {
             Vector2 robotPos = robot.getPosition().xy();
 
             // Calculate distance to ball
-            float distanceToBall = ball.distance(robotPos) - (float) robot.getRadius();
+            float distanceToBall = ball.distance(robotPos) - robot.getRadius();
 
             // If robot is within 0.5m of the ball, it is too close
             if (distanceToBall < 0.5) {