Different collision and more margin to their defense

RoboTeamTwente · Jul 18, 2024 · 7c22f84 · 7c22f84
1 parent 65f9d1c
commit 7c22f84
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/roboteam_ai/src/control/positionControl/CollisionCalculations.cpp b/roboteam_ai/src/control/positionControl/CollisionCalculations.cpp
@@ -72,8 +72,8 @@ double CollisionCalculations::getFirstCollisionTimeMovingObject(const Trajectory
         auto pathLine = LineSegment(pathPoints[checkPoint - 1], pathPoints[checkPoint]);
         double velocityOurRobot = Trajectory.getVelocity(checkPoint * 0.1).length();
         auto positionOurRobot = Trajectory.getPosition(checkPoint * 0.1);
-        double additionalMargin = std::pow(std::min(maxVel, velocityOurRobot) / maxVel, 2) * 0.2;
-        if (velocityOurRobot > 0.4 && avoidObjects.shouldAvoidOurRobots) {
+        double additionalMargin = std::pow(std::min(3.5, velocityOurRobot) / 3.5, 2) * 0.2;
+        if (velocityOurRobot > 0.7 && avoidObjects.shouldAvoidOurRobots) {
             for (const auto &ourOtherRobot : ourRobots) {
                 const int &ourOtherRobotId = ourOtherRobot->getId();
                 if (ourOtherRobotId == robotId) {
@@ -111,7 +111,7 @@ double CollisionCalculations::getFirstCollisionTimeMovingObject(const Trajectory
                 }
             }
         }
-        if (velocityOurRobot > 0.4 && avoidObjects.shouldAvoidTheirRobots) {
+        if (velocityOurRobot > 0.7 && avoidObjects.shouldAvoidTheirRobots) {
             if (std::any_of(theirRobots.begin(), theirRobots.end(), [&](const auto &theirRobot) {
                     return LineSegment(theirRobot->getPos() + theirRobot->getVel() * 0.1 * (checkPoint - 1), theirRobot->getPos() + theirRobot->getVel() * 0.1 * checkPoint)
                                .closestDistanceToLineSegment(pathLine) < 2 * constants::ROBOT_RADIUS + additionalMargin;

diff --git a/roboteam_ai/src/world/FieldComputations.cpp b/roboteam_ai/src/world/FieldComputations.cpp
@@ -9,15 +9,15 @@
 namespace rtt::ai {
 
 std::tuple<double, double> FieldComputations::getDefenseAreaMargin() {
-    double theirDefenseAreaMargin = constants::ROBOT_RADIUS * 1.1 + constants::GO_TO_POS_ERROR_MARGIN;
+    double theirDefenseAreaMargin = constants::ROBOT_RADIUS * 1.4 + constants::GO_TO_POS_ERROR_MARGIN;
     double ourDefenseAreaMargin = -constants::ROBOT_RADIUS * 0.9 + constants::GO_TO_POS_ERROR_MARGIN;
 
     RuleSetName ruleSetTitle = GameStateManager::getCurrentGameState().getRuleSet().getTitle();
     RefCommand currentGameState = GameStateManager::getCurrentGameState().getCommandId();
 
     if (ruleSetTitle == RuleSetName::STOP || currentGameState == RefCommand::DIRECT_FREE_THEM || currentGameState == RefCommand::KICKOFF_THEM ||
         currentGameState == RefCommand::DIRECT_FREE_US) {
-        theirDefenseAreaMargin += 0.2;
+        theirDefenseAreaMargin += 0.3;
     }
 
     return std::make_tuple(theirDefenseAreaMargin, ourDefenseAreaMargin);