From 7523a63f0dbe757019dc2f3d2ef7aac9a1c4c595 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Sun, 18 Aug 2024 01:32:01 +0900 Subject: [PATCH] =?UTF-8?q?=E3=82=B4=E3=83=BC=E3=83=AB=E3=82=AD=E3=83=BC?= =?UTF-8?q?=E3=83=91=E3=83=BC=E3=81=AE=E4=BF=AE=E6=AD=A3=20(#532)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_robot_skills/src/goalie.cpp | 2 ++ .../crane_planner_plugins/src/their_penalty_kick_planner.cpp | 2 ++ 2 files changed, 4 insertions(+) diff --git a/crane_robot_skills/src/goalie.cpp b/crane_robot_skills/src/goalie.cpp index 431c2fe98..60e3883e3 100644 --- a/crane_robot_skills/src/goalie.cpp +++ b/crane_robot_skills/src/goalie.cpp @@ -129,6 +129,8 @@ void Goalie::inplay(bool enable_emit, const ConsaiVisualizerWrapper::SharedPtr & phase = ""; const double BLOCK_DIST = getParameter("block_distance"); phase += "ボールを待ち受ける"; + // デフォルト位置設定 + command.setTargetPosition(world_model()->getOurGoalCenter()).lookAt(Point(0, 0)); if (std::signbit(world_model()->ball.pos.x()) == std::signbit(world_model()->goal.x())) { phase += " (自コート警戒モード)"; Segment ball_prediction_4s(ball.pos, ball.pos + ball.vel * 4.0); diff --git a/session/crane_planner_plugins/src/their_penalty_kick_planner.cpp b/session/crane_planner_plugins/src/their_penalty_kick_planner.cpp index a3bb5224a..a27c0b955 100644 --- a/session/crane_planner_plugins/src/their_penalty_kick_planner.cpp +++ b/session/crane_planner_plugins/src/their_penalty_kick_planner.cpp @@ -34,6 +34,8 @@ TheirPenaltyKickPlanner::calculateRobotCommand( cmd.setTargetPosition(world_model->getOurGoalCenter()); cmd.lookAtBall(); cmd.setMaxVelocity(1.5); + cmd.disableRuleAreaAvoidance(); + cmd.disableGoalAreaAvoidance(); } else { [[maybe_unused]] auto status = goalie->run(visualizer); }