Ball placement obstacle with Stadium Shape on their ball placement #2294
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…y so that robots don't go through it
…s to make that into its own class
…t the drawer. Untested
…uest. for some reason, we must use the shape set stadium has instead of make stadium a shared pointer to add it to our static obstacles. drawing the stadium shape is also working correctly. the stadium shape will only be added as an obstacle if it is their ball placement.
sanatd33
requested changes
Oct 23, 2024
soccer/src/soccer/debug_drawer.cpp
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| @@ -48,6 +48,12 @@ void DebugDrawer::draw_circle(rj_geometry::Point center, float radius, const QCo | |||
| dbg->set_color(color(qc)); | |||
| } | |||
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| // void DebugDrawer::draw_stadium(rj_geometry::StadiumShape& stadium, const QColor& qc, const QString& layer) { | |||
soccer/src/soccer/debug_drawer.hpp
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| @@ -78,6 +79,10 @@ class DebugDrawer { | |||
| const QColor& qw = Qt::black, | |||
| const QString& layer = QString()); | |||
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| // void draw_stadium(rj_geometry::StadiumShape& stadium, | |||
| rj_geometry::StadiumShape stadium = rj_geometry::StadiumShape{in.world_state->ball.position, bp_point, ball_obs.radius()}; | ||
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| // for some reason adding the shared pointer below to our static obstacles breaks it, so we add the shape set it has instead. | ||
| // std::shared_ptr<rj_geometry::Shape> track_obs_ptr = std::make_shared<rj_geometry::Shape>(stadium); |
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this will be fixed when you add a move constructor
| ~StadiumShape() = default; | ||
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| StadiumShape() = default; | ||
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* initial test of tigers system * clean up and add comment * added line test * fix line issue * made comments and removed from settle * Fix Code Style On intermediate-pathgen (#2267) automated style fixes Co-authored-by: sanatd33 <sanatd33@users.noreply.github.com> * make pr changes * add cache inter * start cacching intermediates * add params * use abs angle * Fix Code Style On intermediate-pathgen (#2269) automated style fixes Co-authored-by: sid-parikh <sid-parikh@users.noreply.github.com> --------- Co-authored-by: rishiso <rishisoni.5678@gmail.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: sanatd33 <sanatd33@users.noreply.github.com> Co-authored-by: petergarud <peter.garud04@gmail.com> Co-authored-by: sid-parikh <sid-parikh@users.noreply.github.com>
* change to humble * change dockerfile * remvoe werror switch --------- Co-authored-by: petergarud <peter.garud04@gmail.com>
updated files
* dribbler is stupid * use realism * add realism to simoulator cli run --------- Co-authored-by: petergarud <peter.garud04@gmail.com>
change to clang format 12
* start making wall planner * asdf1234 * complete waller planner * fix the fix the fix style
automated style fixes Co-authored-by: shourikb <shourikb@users.noreply.github.com>
jacksherling
changed the base branch from
ros2
to
revert-1970-fix-planner-node
jacksherling
changed the base branch from
revert-1970-fix-planner-node
to
ros2
jacksherling
approved these changes
Nov 17, 2024
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Description
Ensure rules compliance during their ball placement by staying out of the restricted area which is a stadium shape. We create a new geometry shape that represents this stadium shape. The stadium shape is composed of 2 circles and a rectangle. To create the shape, it takes in 2 points (that represent the centers of the circles) and a radius.
Associated / Resolved Issue
https://app.clickup.com/t/86b1vty49
Steps to Test
Test Case 1
Expected result:
Robot will move out of stadium shape drawn
Key Files to Review
Stadium Shape
Plan Request
Drawer
Review Checklist
(Optional) Sub-issues (for drafts)
Note: if you find yourself breaking this PR into many smaller features, it may make sense to break up the PR into logical units based on these features.