update field dims

RoboJackets · Mar 6, 2024 · f11c243 · f11c243
1 parent 5a22c04
commit f11c243
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/soccer/src/soccer/strategy/agent/position/marker.cpp b/soccer/src/soccer/strategy/agent/position/marker.cpp
@@ -8,6 +8,10 @@ Marker::Marker(FieldDimensions field_dimensions) {
 
 std::optional<RobotIntent> Marker::get_task(RobotIntent intent, const WorldState* world_state,
                                             [[maybe_unused]] FieldDimensions field_dimensions) {
+
+    this->y_bound = field_dimensions.length() / 2;
+    this->marker_follow_cutoff = field_dimensions.width() / 2;
+
     rj_geometry::Point targetPoint = world_state->get_robot(false, target_).pose.position();
     rj_geometry::Point ballPoint = world_state->ball.position;
     rj_geometry::Point targetToBall = (ballPoint - targetPoint).normalized(0.55f);

diff --git a/soccer/src/soccer/strategy/agent/position/marker.hpp b/soccer/src/soccer/strategy/agent/position/marker.hpp
@@ -22,8 +22,8 @@ class Marker : public RoleInterface {
     //Calculated from field dimensions - Prevent the marker from
     //marking any enemies that are out of range; e. g. on the other
     //side of the field or the sidelines.
-    float y_bound {0.0f};
-    float marker_follow_cutoff {0.0f};
+    float y_bound {FieldDimensions::kDefaultDimensions.length() / 2};
+    float marker_follow_cutoff {FieldDimensions::kDefaultDimensions.width() / 2};
 
 public:
     Marker(FieldDimensions field_dimensions);