Merge pull request #166 from ibis-ssl/test_autoref_3

#163よりちまいバグ修正など
ibis-ssl · Feb 23, 2024 · 5e0db97 · 5e0db97
2 parents 00ce9ca + d5e1334
commit 5e0db97
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Showing 3 changed files with 9 additions and 9 deletions.
diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/attacker_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/attacker_planner.hpp
@@ -45,7 +45,7 @@ class AttackerPlanner : public PlannerBase
 
       auto [best_angle, goal_angle_width] =
         world_model->getLargestGoalAngleRangeFromPoint(world_model->ball.pos);
-      Point best_target = world_model->ball.pos + getNormVec(best_angle) * 0.5;
+      Point best_target = world_model->ball.pos + getNormVec(best_angle) * 0.3;
 
       // シュートの隙がないときは仲間へパス
       if (goal_angle_width < 0.07) {

diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/formation_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/formation_planner.hpp
@@ -37,12 +37,12 @@ class FormationPlanner : public PlannerBase
   std::vector<Point> getFormationPoints(int robot_num)
   {
     std::vector<Point> formation_points;
-    formation_points.emplace_back(0.5, 0.0);
-    formation_points.emplace_back(0.8, 0.5);
-    formation_points.emplace_back(0.8, -0.5);
-    formation_points.emplace_back(1.5, 0.0);
-    formation_points.emplace_back(1.5, 1.0);
-    formation_points.emplace_back(1.5, -1.0);
+    formation_points.emplace_back(0.6, 0.0);
+    formation_points.emplace_back(0.9, 0.5);
+    formation_points.emplace_back(0.9, -0.5);
+    formation_points.emplace_back(1.6, 0.0);
+    formation_points.emplace_back(1.6, 1.0);
+    formation_points.emplace_back(1.6, -1.0);
 
     if (world_model->getOurGoalCenter().x() < 0.0) {
       for (auto & point : formation_points) {

diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp
@@ -60,7 +60,7 @@ class OurKickOffPlanner : public PlannerBase
     // 一番ボールに近いロボットをkickoff attack
     auto best_attacker = std::max_element(
       selectable_robots.begin(), selectable_robots.end(), [this](const auto & a, const auto & b) {
-        return world_model->getOurRobot(a)->getDistance(world_model->ball.pos) <
+        return world_model->getOurRobot(a)->getDistance(world_model->ball.pos) >
                world_model->getOurRobot(b)->getDistance(world_model->ball.pos);
       });
     Point supporter_pos{0.0, 2.0};
@@ -74,7 +74,7 @@ class OurKickOffPlanner : public PlannerBase
           // bの方大きくない => best_attackerであるbが除外される
           return false;
         } else {
-          return world_model->getOurRobot(a)->getDistance(supporter_pos) <
+          return world_model->getOurRobot(a)->getDistance(supporter_pos) >
                  world_model->getOurRobot(b)->getDistance(supporter_pos);
         }
       });