Shrunk robot radius #3544
Shrunk robot radius #3544
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StarrryNight
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adrianchan787
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yeah looks great, only thing is i can't tell from a cursory glance where/if cmath is used? but yeah otherwise looks great.
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Looks good, but I'm curious if this change broke ball placement since those tests aren't passing (we might need to move very close to the field boundary if the ball is up against the field walls). Once #3545 is merged, update your branch and try running all sim tests again
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| Rectangle field_boundary = world.field().fieldBoundary(); | ||
| Point neg_x_neg_y_corner( | ||
| field_boundary.negXNegYCorner().x() + ROBOT_MAX_RADIUS_METERS, | ||
| field_boundary.negXNegYCorner().y() + ROBOT_MAX_RADIUS_METERS); | ||
| Point pos_x_pos_y_corner( | ||
| field_boundary.posXPosYCorner().x() - ROBOT_MAX_RADIUS_METERS, | ||
| field_boundary.posXPosYCorner().y() - ROBOT_MAX_RADIUS_METERS); | ||
| Rectangle navigable_area = Rectangle(neg_x_neg_y_corner, pos_x_pos_y_corner); |
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A comment here would be nice explaining why we are shrinking field boundary by the robot radius
Added comment to clarify field boundary adjustment for robot movement.
StarrryNight
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nycrat
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Looks good, just remember to merge from master so that the tests pass.
Also I know Adrian mentioned cmath being imported for seemingly no reason, you could remove that if you want but also our c++ and python code has so many unnecessary imports thats something we might want to clean up later
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I agree and we should alter the import * as well because its messing with my lsp |
4 participants
Super small change fixing issue #3543, which is a sub issue of #3104 . Simply shrunk the navigable area by the radius of the robot, so robot won't go outside of the playing field when path finding near the edge.
Testing Done
Resolved Issues
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It is the reviewers responsibility to also make sure every item here has been covered
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue