Merge pull request #125 from rcsoccersim/develop

Official Release 18.1.2

Author: hidehisaakiyama

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5.1)
 
-project(RCSSServer VERSION 18.1.1)
+project(RCSSServer VERSION 18.1.2)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

ChangeLog

@@ -1,3 +1,11 @@
+2023-03-17  Hidehisa Akiyama  <hidehisaakiyama@users.noreply.github.com>
+
+	* CMakeLists.txt:
+	* NEWS:
+	* configure.ac:
+	- update a point version number. Official release 18.1.2.
+	- Fix a problem of v18 observation noise model.
+
 2023-03-15  Hidehisa Akiyama  <hidehisaakiyama@users.noreply.github.com>
 
 	* CMakeLists.txt:

NEWS

@@ -1,3 +1,8 @@
+[18.1.2]
+  * Fix a problem of v18 observation noise model. Quantized distance
+    values affected by the focus point are now rounded to one decimal
+	place.
+
 [18.1.1]
   * Fix a problem in which the focus point is sometimes not updated.
 

configure.ac

@@ -3,7 +3,7 @@
 
 AC_PREREQ([2.69])
 LT_PREREQ([2.2])
-AC_INIT([RCSSServer],[18.1.1],[https://github.com/rcsoccersim/],[rcssserver])
+AC_INIT([RCSSServer],[18.1.2],[https://github.com/rcsoccersim/],[rcssserver])
 
 #AM_INIT_AUTOMAKE([gnu 1.7.2 check-news dist-bzip2 dist-zip])
 AM_INIT_AUTOMAKE([gnu 1.7.2 check-news foreign])

src/visualsenderplayer.cpp

@@ -1156,7 +1156,7 @@ VisualSenderPlayerV18::sendHighBall( const MPObject & ball )
                                                        un_quant_dist,
                                                        self().distQStep() );
     if ( std::fabs( ang ) < self().visibleAngle() * 0.5
-         && un_quant_dist < self().playerType()->ballMaxObservationLength())
+         && un_quant_dist < self().playerType()->ballMaxObservationLength() )
     {
         double prob = 0.0;
         if ( self().playerType()->ballVelTooFarLength() > self().playerType()->ballVelFarLength() )
@@ -1325,10 +1325,10 @@ VisualSenderPlayerV18::calcQuantDistFocusPoint( const PObject & obj,
                                                 const double unquant_dist,
                                                 const double qstep )
 {
-    const double dist_focus_point = obj.pos().distance( M_focus_point );
-    const double quant_dist_focus_point = calcQuantDist( dist_focus_point, qstep );
+    const double unquant_dist_focus_point = obj.pos().distance( M_focus_point );
+    const double quant_dist_focus_point = std::exp( Quantize( std::log( unquant_dist_focus_point + EPS ), qstep ) );
 
-    return std::max( 0.0, unquant_dist - ( dist_focus_point - quant_dist_focus_point ) );
+    return Quantize( std::max( 0.0, unquant_dist - ( unquant_dist_focus_point - quant_dist_focus_point ) ), 0.1 );
 }
 
 /*!