diff --git a/.github/workflows/doxy-action.yml b/.github/workflows/doxy-action.yml index a45989ad8..7f4be6790 100644 --- a/.github/workflows/doxy-action.yml +++ b/.github/workflows/doxy-action.yml @@ -1,8 +1,3 @@ -# -# Created by Max Thielen on Oct. 15, 2021 -# Updated by Jibbe Andringa on Mar. 7, 2023 -# - name: Doxygen Documentation on: diff --git a/CMakeLists.txt b/CMakeLists.txt index 30e9723d1..762c70992 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -96,12 +96,10 @@ endif() find_package(Qt5Network REQUIRED) - - # internal projects add_subdirectory(roboteam_networking) add_subdirectory(roboteam_utils) add_subdirectory(roboteam_logging) add_subdirectory(roboteam_ai) add_subdirectory(roboteam_robothub) -add_subdirectory(roboteam_world) \ No newline at end of file +add_subdirectory(roboteam_observer) \ No newline at end of file diff --git a/cmake_modules/CodeCoverage.cmake b/cmake_modules/CodeCoverage.cmake index e12ec6a61..57f1c31e4 100644 --- a/cmake_modules/CodeCoverage.cmake +++ b/cmake_modules/CodeCoverage.cmake @@ -66,7 +66,7 @@ # make my_coverage_target # -set(COVERAGE_LCOV_EXCLUDES '*/googletest/*' '*/boost/*' '*/cmake-build-debug/*' '/usr/*' '/opt/*' '*/roboteam_msgs/*' '*/roboteam_utils/*' '*/json.h') +set(COVERAGE_LCOV_EXCLUDES '*/googletest/*' '*/cmake-build-debug/*' '/usr/*' '/opt/*' '*/roboteam_msgs/*' '*/roboteam_utils/*' '*/json.h') set(COVERAGE_GCOVR_EXCLUDES ${COVERAGE_LCOV_EXCLUDES}) include(CMakeParseArguments) diff --git a/docker/Dockerfile b/docker/Dockerfile index 2103f17ed..690d2a44a 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -31,7 +31,7 @@ RUN apk add --no-cache bash build-base cmake make musl-dev libtool \ clang ninja-build autoconf automake pkgconfig \ python3 py3-pip git ccache sudo \ libzmq zeromq-dev libzmq-static eigen-dev gtest-dev \ - libtbb-dev boost-dev curl unzip wget zlib-dev zip nodejs npm \ + libtbb-dev curl unzip wget zlib-dev zip nodejs npm \ openssl-dev sdl2-dev libudev-zero libudev-zero-dev libusb libusb-dev \ qt5-qtbase-dev qt5-qtcharts-dev qt5-qtdeclarative-dev qt5-qtsvg-dev RUN npm install -g yarn @@ -64,7 +64,7 @@ ENV USER=$USERNAME RUN apk add --no-cache \ libtool libzmq libzmq-static libudev-zero libusb \ zeromq-dev eigen-dev gtest-dev \ - libtbb-dev boost-dev zlib-dev \ + libtbb-dev zlib-dev \ openssl-dev sdl2-dev \ qt5-qtbase-dev qt5-qtcharts-dev qt5-qtdeclarative-dev qt5-qtsvg-dev \ sudo nodejs npm diff --git a/docs/World.md b/docs/World.md index 5589f8ce2..708075fcd 100644 --- a/docs/World.md +++ b/docs/World.md @@ -2,8 +2,9 @@ ## General ## [World](https://github.com/RoboTeamTwente/roboteam_ai/blob/development/include/roboteam_ai/world_new/World.hpp#L36) by itself is a very interesting conversation, because we don't just have a single world. -We have two worlds, one called [roboteam_world](http://github.com/roboteamtwente/roboteam_world), and one that we refer +We have used to have two worlds, one called [roboteam_world](http://github.com/roboteamtwente/roboteam_world), and one that we refer to as [ai world](https://github.com/RoboTeamTwente/roboteam_ai/blob/development/include/roboteam_ai/world_new/World.hpp) +Now, the world in AI is called world, while the other one is called roboteam_observer. The world structure simply represents the current world and the history. It keeps track of past worlds, and creates new worlds from [protobuf messages](https://developers.google.com/protocol-buffers). diff --git a/docs/WorldData.md b/docs/WorldData.md index 0f5b1b2e5..c664ab10c 100644 --- a/docs/WorldData.md +++ b/docs/WorldData.md @@ -1,7 +1,7 @@ # WorldData # ## General ## -[WorldData]() itself is just a representation of the current world. It receives data from [roboteam_world](http://://github.com/roboteamtwente/roboteam_world) and transforms it into a WorldData structure. +[WorldData]() itself is just a representation of the current world. It receives data from [roboteam_observer](http://://github.com/roboteamtwente/roboteam_world) and transforms it into a WorldData structure. WorldData itself is not that complicated, it serves to be a simple data-only structure with some getters and setters. diff --git a/roboteam_ai/.clang-format b/roboteam_ai/.clang-format index 7831745d0..a8d6f3aee 100644 --- a/roboteam_ai/.clang-format +++ b/roboteam_ai/.clang-format @@ -64,8 +64,6 @@ ExperimentalAutoDetectBinPacking: false FixNamespaceComments: true ForEachMacros: - foreach - - Q_FOREACH - - BOOST_FOREACH IncludeBlocks: Regroup IncludeCategories: - Regex: '^' @@ -158,9 +156,6 @@ SpacesInParentheses: false SpacesInSquareBrackets: false SpaceBeforeSquareBrackets: false Standard: Auto -StatementMacros: - - Q_UNUSED - - QT_REQUIRE_VERSION TabWidth: 8 UseCRLF: false UseTab: Never diff --git a/roboteam_ai/.github/workflows/doxy-action.yml b/roboteam_ai/.github/workflows/doxy-action.yml index 2863a7187..398ea242c 100644 --- a/roboteam_ai/.github/workflows/doxy-action.yml +++ b/roboteam_ai/.github/workflows/doxy-action.yml @@ -1,7 +1,3 @@ -# -# Created by Max Thielen on Oct. 15, 2021 -# - name: Doxygen Documentation on: diff --git a/roboteam_ai/CMakeLists.txt b/roboteam_ai/CMakeLists.txt index 6172cb409..419cf766a 100644 --- a/roboteam_ai/CMakeLists.txt +++ b/roboteam_ai/CMakeLists.txt @@ -1,18 +1,12 @@ cmake_minimum_required(VERSION 3.22) project(roboteam_ai) -add_subdirectory(src) - ###### UTILS ####### -add_library(roboteam_ai_utils - ${PROJECT_SOURCE_DIR}/src/utilities/StrategyManager.cpp - ${PROJECT_SOURCE_DIR}/src/utilities/GameStateManager.cpp - ${PROJECT_SOURCE_DIR}/src/utilities/Constants.cpp - ${PROJECT_SOURCE_DIR}/src/utilities/Dealer.cpp - ${PROJECT_SOURCE_DIR}/src/utilities/IOManager.cpp - ${PROJECT_SOURCE_DIR}/src/utilities/Settings.cpp - ${PROJECT_SOURCE_DIR}/src/utilities/normalize.cpp +file(GLOB_RECURSE UTILS_SRC + "${PROJECT_SOURCE_DIR}/src/utilities/*.cpp" ) +add_library(roboteam_ai_utils ${UTILS_SRC}) + target_link_libraries(roboteam_ai_utils PUBLIC Qt5::Network PRIVATE roboteam_networking @@ -25,16 +19,12 @@ target_include_directories(roboteam_ai_utils target_compile_options(roboteam_ai_utils PRIVATE "${COMPILER_FLAGS}") ###### SKILLS ####### -add_library(roboteam_ai_skills - ${PROJECT_SOURCE_DIR}/src/stp/Skill.cpp - ${PROJECT_SOURCE_DIR}/src/stp/skills/Kick.cpp - ${PROJECT_SOURCE_DIR}/src/stp/skills/Chip.cpp - ${PROJECT_SOURCE_DIR}/src/stp/skills/Rotate.cpp - ${PROJECT_SOURCE_DIR}/src/stp/skills/GoToPos.cpp - ${PROJECT_SOURCE_DIR}/src/stp/skills/Orbit.cpp - ${PROJECT_SOURCE_DIR}/src/stp/skills/OrbitAngular.cpp - ${PROJECT_SOURCE_DIR}/src/stp/skills/TestSkill.cpp +file(GLOB_RECURSE SKILLS_SRC + "${PROJECT_SOURCE_DIR}/src/stp/skills/*.cpp" + "${PROJECT_SOURCE_DIR}/src/stp/Skill.cpp" ) +add_library(roboteam_ai_skills ${SKILLS_SRC}) + target_include_directories(roboteam_ai_skills PRIVATE include/roboteam_ai ) @@ -45,198 +35,107 @@ target_link_libraries(roboteam_ai_skills target_compile_options(roboteam_ai_skills PRIVATE "${COMPILER_FLAGS}") ###### TACTICS ####### -add_library(roboteam_ai_tactics - ${PROJECT_SOURCE_DIR}/src/stp/Tactic.cpp - # / - ${PROJECT_SOURCE_DIR}/src/stp/tactics/KeeperBlockBall.cpp - ${PROJECT_SOURCE_DIR}/src/stp/tactics/TestTactic.cpp - # active/ - ${PROJECT_SOURCE_DIR}/src/stp/tactics/active/DriveWithBall.cpp - ${PROJECT_SOURCE_DIR}/src/stp/tactics/active/GetBall.cpp - ${PROJECT_SOURCE_DIR}/src/stp/tactics/active/GetBehindBallInDirection.cpp - ${PROJECT_SOURCE_DIR}/src/stp/tactics/active/KickAtPos.cpp - ${PROJECT_SOURCE_DIR}/src/stp/tactics/active/ChipAtPos.cpp - ${PROJECT_SOURCE_DIR}/src/stp/tactics/active/OrbitKick.cpp - ${PROJECT_SOURCE_DIR}/src/stp/tactics/active/Receive.cpp - # passive/ - ${PROJECT_SOURCE_DIR}/src/stp/tactics/passive/BlockBall.cpp - ${PROJECT_SOURCE_DIR}/src/stp/tactics/passive/Formation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/tactics/passive/Halt.cpp - ${PROJECT_SOURCE_DIR}/src/stp/tactics/passive/BallStandBack.cpp) +file(GLOB_RECURSE TACTICS_SRC + "${PROJECT_SOURCE_DIR}/src/stp/tactics/*.cpp" + "${PROJECT_SOURCE_DIR}/src/stp/Tactic.cpp" +) +add_library(roboteam_ai_tactics ${TACTICS_SRC}) + target_include_directories(roboteam_ai_tactics PRIVATE include/roboteam_ai ) target_link_libraries(roboteam_ai_tactics - PRIVATE roboteam_utils PRIVATE roboteam_networking + PRIVATE roboteam_utils + PRIVATE roboteam_ai_skills ) target_compile_options(roboteam_ai_tactics PRIVATE "${COMPILER_FLAGS}") ###### ROLES ####### -add_library(roboteam_ai_roles - ${PROJECT_SOURCE_DIR}/src/stp/Role.cpp - # / - ${PROJECT_SOURCE_DIR}/src/stp/roles/TestRole.cpp - ${PROJECT_SOURCE_DIR}/src/stp/roles/Keeper.cpp - ${PROJECT_SOURCE_DIR}/src/stp/roles/PenaltyKeeper.cpp - # active - ${PROJECT_SOURCE_DIR}/src/stp/roles/active/Striker.cpp - ${PROJECT_SOURCE_DIR}/src/stp/roles/active/Harasser.cpp - ${PROJECT_SOURCE_DIR}/src/stp/roles/active/BallPlacer.cpp - ${PROJECT_SOURCE_DIR}/src/stp/roles/active/FreeKickTaker.cpp - ${PROJECT_SOURCE_DIR}/src/stp/roles/active/Passer.cpp - ${PROJECT_SOURCE_DIR}/src/stp/roles/active/Chipper.cpp - ${PROJECT_SOURCE_DIR}/src/stp/roles/active/KeeperPasser.cpp - ${PROJECT_SOURCE_DIR}/src/stp/roles/active/PassReceiver.cpp - ${PROJECT_SOURCE_DIR}/src/stp/roles/active/PenaltyTaker.cpp - # passive - ${PROJECT_SOURCE_DIR}/src/stp/roles/passive/Defender.cpp - ${PROJECT_SOURCE_DIR}/src/stp/roles/passive/Formation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/roles/passive/Halt.cpp +file(GLOB_RECURSE ROLES_SRC + "${PROJECT_SOURCE_DIR}/src/stp/Role.cpp" + "${PROJECT_SOURCE_DIR}/src/stp/roles/*.cpp" ) +add_library(roboteam_ai_roles ${ROLES_SRC}) + target_include_directories(roboteam_ai_roles PRIVATE include/roboteam_ai ) target_link_libraries(roboteam_ai_roles - PRIVATE roboteam_utils PRIVATE roboteam_networking + PRIVATE roboteam_utils + PRIVATE roboteam_ai_tactics ) target_compile_options(roboteam_ai_roles PRIVATE "${COMPILER_FLAGS}") ###### PLAYS ####### -add_library(roboteam_ai_plays - ${PROJECT_SOURCE_DIR}/src/stp/Play.cpp - ${PROJECT_SOURCE_DIR}/src/stp/PlayDecider.cpp - ${PROJECT_SOURCE_DIR}/src/stp/PlayEvaluator.cpp - # defensive/ - ${PROJECT_SOURCE_DIR}/src/stp/plays/defensive/DefendPass.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/defensive/DefendShot.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/defensive/KeeperKickBall.cpp - # offensive/ - ${PROJECT_SOURCE_DIR}/src/stp/plays/offensive/Attack.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/offensive/AttackingPass.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/offensive/ChippingPass.cpp - # referee_specific/ - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/AggressiveStopFormation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/BallPlacementThem.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/BallPlacementUsFreeKick.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/BallPlacementUsForceStart.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/DefensiveStopFormation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/FreeKickThem.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/FreeKickUsAtGoal.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/FreeKickUsPass.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/Halt.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/KickOffThem.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/KickOffThemPrepare.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/KickOffUs.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/KickOffUsPrepare.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/PenaltyThem.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/PenaltyThemPrepare.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/PenaltyUs.cpp - ${PROJECT_SOURCE_DIR}/src/stp/plays/referee_specific/PenaltyUsPrepare.cpp +file(GLOB_RECURSE PLAYS_SRC + "${PROJECT_SOURCE_DIR}/src/stp/Play.cpp" + "${PROJECT_SOURCE_DIR}/src/stp/PlayDecider.cpp" + "${PROJECT_SOURCE_DIR}/src/stp/PlayEvaluator.cpp" + "${PROJECT_SOURCE_DIR}/src/stp/plays/*.cpp" ) +add_library(roboteam_ai_plays ${PLAYS_SRC}) + target_include_directories(roboteam_ai_plays PRIVATE include/roboteam_ai ) target_link_libraries(roboteam_ai_plays PRIVATE roboteam_networking PRIVATE roboteam_utils - PRIVATE NFParam PRIVATE roboteam_ai_utils PRIVATE roboteam_ai_world + PRIVATE roboteam_ai_evaluation + PRIVATE roboteam_ai_control + PRIVATE roboteam_ai_computation + PRIVATE roboteam_ai_roles ) target_compile_options(roboteam_ai_plays PRIVATE "${COMPILER_FLAGS}") ###### EVALUATION ####### -add_library(roboteam_ai_evaluation - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/WeHaveBallGlobalEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/WeDoNotHaveBallGlobalEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/TheyHaveBallGlobalEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/TheyDoNotHaveBallGlobalEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/BallOnOurSideGlobalEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/BallOnTheirSideGlobalEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/BallInOurDefenseAreaAndStillGlobalEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/global/BallNotInOurDefenseAreaAndStillGlobalEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/BallPlacementUsGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/BallPlacementUsDirectGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/BallPlacementThemGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/HaltGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/KickOffUsGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/KickOffUsOrNormalGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/KickOffThemGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/KickOffUsPrepareGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/KickOffThemPrepareGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/FreeKickUsGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/FreeKickThemGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/NormalOrFreeKickUsGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/PenaltyUsGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/PenaltyThemGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/PenaltyUsPrepareGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/PenaltyThemPrepareGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/NormalPlayGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/StopGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/game_states/TimeOutGameStateEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/position/OpennessEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/position/LineOfSightEvaluation.cpp - ${PROJECT_SOURCE_DIR}/src/stp/evaluations/position/GoalShotEvaluation.cpp +file(GLOB_RECURSE EVALUATIONS_SRC + "${PROJECT_SOURCE_DIR}/src/stp/evaluations/*.cpp" ) +add_library(roboteam_ai_evaluation ${EVALUATIONS_SRC}) + target_include_directories(roboteam_ai_evaluation PRIVATE include/roboteam_ai ) target_link_libraries(roboteam_ai_evaluation PRIVATE roboteam_networking PRIVATE roboteam_utils - PRIVATE NFParam ) target_compile_options(roboteam_ai_evaluation PRIVATE "${COMPILER_FLAGS}") ###### COMPUTATION ####### -add_library(roboteam_ai_computation - ${PROJECT_SOURCE_DIR}/src/stp/computations/PositionComputations.cpp - ${PROJECT_SOURCE_DIR}/src/stp/computations/GoalComputations.cpp - ${PROJECT_SOURCE_DIR}/src/stp/computations/PassComputations.cpp - ${PROJECT_SOURCE_DIR}/src/stp/computations/PositionScoring.cpp +file(GLOB_RECURSE COMPUTATIONS_SRC + "${PROJECT_SOURCE_DIR}/src/stp/computations/*.cpp" ) +add_library(roboteam_ai_computation ${COMPUTATIONS_SRC}) + target_include_directories(roboteam_ai_computation - PRIVATE include/roboteam_ai + PRIVATE include/roboteam_ai ) target_link_libraries(roboteam_ai_computation - PRIVATE roboteam_utils PRIVATE roboteam_networking - PRIVATE NFParam + PRIVATE roboteam_utils + PRIVATE roboteam_ai_evaluation ) target_compile_options(roboteam_ai_computation PRIVATE "${COMPILER_FLAGS}") ###### CONTROL ####### -add_library(roboteam_ai_control - ${PROJECT_SOURCE_DIR}/src/control/ControlModule.cpp - ${PROJECT_SOURCE_DIR}/src/control/ControlUtils.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/pathPlanning/NumTreesPlanning.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/CollisionDetector.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/PositionControl.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/pathTracking/DensePathTracking.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/pathTracking/PidTracking.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/pathTracking/BBTPathTracking.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/PathPointNode.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/pathPlanning/PathPlanningAlgorithm.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/pathTracking/PathTrackingAlgorithm.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/PositionControlUtils.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/BBTrajectories/WorldObjects.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/BBTrajectories/BBTrajectory1D.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/BBTrajectories/BBTrajectory2D.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/BBTrajectories/Trajectory1D.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/BBTrajectories/Trajectory2D.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/BBTrajectories/WorldObjects.cpp - ${PROJECT_SOURCE_DIR}/src/control/positionControl/BBTrajectories/WorldObjects.cpp - ${PROJECT_SOURCE_DIR}/src/control/AnglePID.cpp +file(GLOB_RECURSE CONTROL_SRC + "${PROJECT_SOURCE_DIR}/src/control/*.cpp" ) +add_library(roboteam_ai_control ${CONTROL_SRC}) + target_include_directories(roboteam_ai_control PRIVATE include/roboteam_ai ) target_link_libraries(roboteam_ai_control PRIVATE roboteam_networking PRIVATE roboteam_utils - PRIVATE roboteam_ai_gui + PUBLIC Qt5::Network ) target_compile_options(roboteam_ai_control PRIVATE "${COMPILER_FLAGS}") @@ -278,6 +177,7 @@ target_include_directories(roboteam_ai_world target_link_libraries(roboteam_ai_world PRIVATE roboteam_networking PRIVATE roboteam_utils + PRIVATE roboteam_ai_control ) target_compile_options(roboteam_ai_world PRIVATE "${COMPILER_FLAGS}") @@ -291,21 +191,19 @@ target_include_directories(roboteam_ai ) target_link_libraries(roboteam_ai PRIVATE ixwebsocket - PRIVATE roboteam_utils - PRIVATE roboteam_networking - - # Watch out! The order of these libraries apparently matters! - PRIVATE roboteam_ai_world - PRIVATE roboteam_ai_utils - PRIVATE roboteam_ai_gui - PRIVATE roboteam_ai_plays - PRIVATE roboteam_ai_control - PRIVATE roboteam_ai_roles PRIVATE Qt5::Charts PRIVATE roboteam_ai_computation - PRIVATE roboteam_ai_tactics + PRIVATE roboteam_ai_control PRIVATE roboteam_ai_evaluation + PRIVATE roboteam_ai_gui + PRIVATE roboteam_ai_plays + PRIVATE roboteam_ai_roles PRIVATE roboteam_ai_skills + PRIVATE roboteam_ai_tactics + PRIVATE roboteam_ai_utils + PRIVATE roboteam_ai_world + PRIVATE roboteam_networking + PRIVATE roboteam_utils ) target_compile_options(roboteam_ai PRIVATE "${COMPILER_FLAGS}") @@ -320,8 +218,8 @@ target_include_directories(testHelpers PRIVATE include/roboteam_ai) target_link_libraries(testHelpers - PRIVATE roboteam_utils PRIVATE roboteam_networking + PRIVATE roboteam_utils PRIVATE roboteam_ai_utils ) @@ -345,6 +243,7 @@ add_executable(roboteam_ai_tests ${PROJECT_SOURCE_DIR}/test/ControlTests/BBTrajectory/BBTrajectory1DTest.cpp ${PROJECT_SOURCE_DIR}/test/PassingTests/PassingTests.cpp ) + target_include_directories(roboteam_ai_tests PRIVATE include/roboteam_ai PRIVATE test @@ -352,51 +251,51 @@ target_include_directories(roboteam_ai_tests target_link_libraries(roboteam_ai_tests PRIVATE GTest::gtest PRIVATE GTest::gmock - PRIVATE testHelpers + PRIVATE Qt5::Charts PRIVATE ixwebsocket - PRIVATE roboteam_utils - PRIVATE roboteam_networking - # Watch out! The order of these libraries apparently matters! + PRIVATE roboteam_ai_computation + PRIVATE roboteam_ai_control + PRIVATE roboteam_ai_evaluation PRIVATE roboteam_ai_gui PRIVATE roboteam_ai_plays - PRIVATE roboteam_ai_world - PRIVATE roboteam_ai_control PRIVATE roboteam_ai_roles - PRIVATE Qt5::Charts - PRIVATE roboteam_ai_utils - PRIVATE roboteam_ai_computation - PRIVATE roboteam_ai_tactics - PRIVATE roboteam_ai_evaluation PRIVATE roboteam_ai_skills - ) + PRIVATE roboteam_ai_tactics + PRIVATE roboteam_ai_utils + PRIVATE roboteam_ai_world + PRIVATE roboteam_networking + PRIVATE roboteam_utils + PRIVATE testHelpers +) target_compile_options(roboteam_ai_tests PRIVATE "${COMPILER_FLAGS}") gtest_discover_tests(roboteam_ai_tests) ###### POSITIONSCORINGTEST ####### -add_executable(positionScoringTest - ${PROJECT_SOURCE_DIR}/test/PositionScoringTests/PositionScoringTest.cpp - ) +# This is a random world with 22 robots and prints the best location, not useful for automated testing. Uncomment when needed +# add_executable(positionScoringTest +# ${PROJECT_SOURCE_DIR}/test/PositionScoringTests/PositionScoringTest.cpp +# ) -target_include_directories(positionScoringTest - PRIVATE test - PRIVATE include/roboteam_ai - ) +# target_include_directories(positionScoringTest +# PRIVATE test +# PRIVATE include/roboteam_ai +# ) -target_link_libraries(positionScoringTest - PRIVATE roboteam_ai_utils - PRIVATE roboteam_networking - PRIVATE roboteam_ai_plays - PRIVATE roboteam_utils - PRIVATE roboteam_ai_roles - PRIVATE Qt5::Charts - PRIVATE roboteam_ai_computation - PRIVATE roboteam_ai_tactics - PRIVATE roboteam_ai_evaluation - PRIVATE roboteam_ai_skills - PRIVATE testHelpers - PRIVATE roboteam_ai_world - PRIVATE roboteam_ai_control - PRIVATE roboteam_ai_gui - ) +# target_link_libraries(positionScoringTest +# PRIVATE Qt5::Charts +# PRIVATE roboteam_ai_computation +# PRIVATE roboteam_ai_control +# PRIVATE roboteam_ai_evaluation +# PRIVATE roboteam_ai_gui +# PRIVATE roboteam_ai_plays +# PRIVATE roboteam_ai_roles +# PRIVATE roboteam_ai_skills +# PRIVATE roboteam_ai_tactics +# PRIVATE roboteam_ai_utils +# PRIVATE roboteam_ai_world +# PRIVATE roboteam_networking +# PRIVATE roboteam_utils +# PRIVATE testHelpers +# ) diff --git a/roboteam_ai/include/roboteam_ai/control/AnglePID.h b/roboteam_ai/include/roboteam_ai/control/AnglePID.h index d1e5f9f0e..dcbcf723d 100644 --- a/roboteam_ai/include/roboteam_ai/control/AnglePID.h +++ b/roboteam_ai/include/roboteam_ai/control/AnglePID.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 01-06-21. -// - #ifndef RTT_ANGLEPID_H #define RTT_ANGLEPID_H diff --git a/roboteam_ai/include/roboteam_ai/control/ControlModule.h b/roboteam_ai/include/roboteam_ai/control/ControlModule.h index fb016723a..65f463266 100644 --- a/roboteam_ai/include/roboteam_ai/control/ControlModule.h +++ b/roboteam_ai/include/roboteam_ai/control/ControlModule.h @@ -1,7 +1,3 @@ -// -// Created by jaro on 15-10-20. -// - #ifndef RTT_CONTROLMODULE_H #define RTT_CONTROLMODULE_H diff --git a/roboteam_ai/include/roboteam_ai/control/ControlUtils.h b/roboteam_ai/include/roboteam_ai/control/ControlUtils.h index fd407a6d6..7b59e82c1 100644 --- a/roboteam_ai/include/roboteam_ai/control/ControlUtils.h +++ b/roboteam_ai/include/roboteam_ai/control/ControlUtils.h @@ -1,7 +1,3 @@ -// -// Created by baris on 16/11/18. -// - #ifndef ROBOTEAM_AI_CONTROLUTILS_H #define ROBOTEAM_AI_CONTROLUTILS_H diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/BBTrajectory1D.h b/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/BBTrajectory1D.h index 60b9be6f3..25743cf54 100644 --- a/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/BBTrajectory1D.h +++ b/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/BBTrajectory1D.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 26-09-20. -// - #ifndef RTT_BBTRAJECTORY1D_H #define RTT_BBTRAJECTORY1D_H diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/BBTrajectory2D.h b/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/BBTrajectory2D.h index 3321b5193..4ab643a7a 100644 --- a/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/BBTrajectory2D.h +++ b/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/BBTrajectory2D.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 26-09-20. -// - #ifndef RTT_BBTRAJECTORY2D_H #define RTT_BBTRAJECTORY2D_H diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/Trajectory1D.h b/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/Trajectory1D.h index 9f369de0f..d2ed47899 100644 --- a/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/Trajectory1D.h +++ b/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/Trajectory1D.h @@ -1,7 +1,3 @@ -// -// Created by tijmen on 16-12-21. -// - #ifndef RTT_TRAJECTORY1D_H #define RTT_TRAJECTORY1D_H diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/Trajectory2D.h b/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/Trajectory2D.h index e532a41c4..0055e8aa2 100644 --- a/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/Trajectory2D.h +++ b/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/Trajectory2D.h @@ -1,7 +1,3 @@ -// -// Created by tijmen on 15-12-21. -// - #ifndef RTT_TRAJECTORY2D_H #define RTT_TRAJECTORY2D_H diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/WorldObjects.h b/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/WorldObjects.h index 5cf2d2180..4195beddb 100644 --- a/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/WorldObjects.h +++ b/roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/WorldObjects.h @@ -1,7 +1,3 @@ -// -// Created by floris on 15-11-20. -// - #ifndef RTT_WORLDOBJECTS_H #define RTT_WORLDOBJECTS_H diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/CollisionDetector.h b/roboteam_ai/include/roboteam_ai/control/positionControl/CollisionDetector.h index 4d26c374a..4e292b29b 100644 --- a/roboteam_ai/include/roboteam_ai/control/positionControl/CollisionDetector.h +++ b/roboteam_ai/include/roboteam_ai/control/positionControl/CollisionDetector.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 10-12-19. -// - #ifndef RTT_COLLISIONDETECTOR_H #define RTT_COLLISIONDETECTOR_H diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/PathPointNode.h b/roboteam_ai/include/roboteam_ai/control/positionControl/PathPointNode.h index 7c13e6759..4872f38cb 100644 --- a/roboteam_ai/include/roboteam_ai/control/positionControl/PathPointNode.h +++ b/roboteam_ai/include/roboteam_ai/control/positionControl/PathPointNode.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 20-02-20. -// - #ifndef RTT_PATHPOINTNODE_H #define RTT_PATHPOINTNODE_H diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/PositionControl.h b/roboteam_ai/include/roboteam_ai/control/positionControl/PositionControl.h index 12a10af8d..2473b3ec9 100644 --- a/roboteam_ai/include/roboteam_ai/control/positionControl/PositionControl.h +++ b/roboteam_ai/include/roboteam_ai/control/positionControl/PositionControl.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 18-11-19. -// - #ifndef RTT_POSITIONCONTROL_H #define RTT_POSITIONCONTROL_H diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/PositionControlUtils.h b/roboteam_ai/include/roboteam_ai/control/positionControl/PositionControlUtils.h index 4c86e7f2d..1d05a8d24 100644 --- a/roboteam_ai/include/roboteam_ai/control/positionControl/PositionControlUtils.h +++ b/roboteam_ai/include/roboteam_ai/control/positionControl/PositionControlUtils.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 30-01-20. -// - #ifndef RTT_POSITIONCONTROLUTILS_H #define RTT_POSITIONCONTROLUTILS_H diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/pathPlanning/NumTreesPlanning.h b/roboteam_ai/include/roboteam_ai/control/positionControl/pathPlanning/NumTreesPlanning.h index e40867718..096f9f0d1 100644 --- a/roboteam_ai/include/roboteam_ai/control/positionControl/pathPlanning/NumTreesPlanning.h +++ b/roboteam_ai/include/roboteam_ai/control/positionControl/pathPlanning/NumTreesPlanning.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 20-02-20. -// - #ifndef RTT_NUMTREESPLANNING_H #define RTT_NUMTREESPLANNING_H diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/pathPlanning/PathPlanningAlgorithm.h b/roboteam_ai/include/roboteam_ai/control/positionControl/pathPlanning/PathPlanningAlgorithm.h index 70c7c5b46..39a7f7f59 100644 --- a/roboteam_ai/include/roboteam_ai/control/positionControl/pathPlanning/PathPlanningAlgorithm.h +++ b/roboteam_ai/include/roboteam_ai/control/positionControl/pathPlanning/PathPlanningAlgorithm.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 09-03-20. -// - #ifndef RTT_PATHPLANNINGALGORITHM_H #define RTT_PATHPLANNINGALGORITHM_H diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/BBTPathTracking.h b/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/BBTPathTracking.h index d31225854..712ebc1b8 100644 --- a/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/BBTPathTracking.h +++ b/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/BBTPathTracking.h @@ -1,7 +1,3 @@ -// -// Created by tijmen on 27-10-21. -// - #ifndef RTT_BBTPATHTRACKING_H #define RTT_BBTPATHTRACKING_H diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/DensePathTracking.h b/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/DensePathTracking.h index bd2d0c230..240ee17eb 100644 --- a/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/DensePathTracking.h +++ b/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/DensePathTracking.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 24-01-20. -// - #ifndef RTT_DENSEPATHTRACKING_H #define RTT_DENSEPATHTRACKING_H diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/PathTrackingAlgorithm.h b/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/PathTrackingAlgorithm.h index 38344d1e4..a58cea45c 100644 --- a/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/PathTrackingAlgorithm.h +++ b/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/PathTrackingAlgorithm.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 09-03-20. -// - #ifndef RTT_PATHTRACKINGALGORITHM_H #define RTT_PATHTRACKINGALGORITHM_H diff --git a/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/PidTracking.h b/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/PidTracking.h index 0a15026f8..43e4bc8a5 100644 --- a/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/PidTracking.h +++ b/roboteam_ai/include/roboteam_ai/control/positionControl/pathTracking/PidTracking.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 24-01-20. -// - #ifndef RTT_PIDTRACKING_H #define RTT_PIDTRACKING_H diff --git a/roboteam_ai/include/roboteam_ai/gui/Out.h b/roboteam_ai/include/roboteam_ai/gui/Out.h index 5e04db2e2..6c796139c 100644 --- a/roboteam_ai/include/roboteam_ai/gui/Out.h +++ b/roboteam_ai/include/roboteam_ai/gui/Out.h @@ -1,7 +1,3 @@ -// -// Created by Martin Miksik on 25/04/2023. -// - #ifndef RTT_OUT_H #define RTT_OUT_H diff --git a/roboteam_ai/include/roboteam_ai/gui/networking/InterfaceGateway.h b/roboteam_ai/include/roboteam_ai/gui/networking/InterfaceGateway.h index 5ac0b26b8..b656b5c35 100644 --- a/roboteam_ai/include/roboteam_ai/gui/networking/InterfaceGateway.h +++ b/roboteam_ai/include/roboteam_ai/gui/networking/InterfaceGateway.h @@ -1,7 +1,3 @@ -// -// Created by Martin Miksik on 25/04/2023. -// - #ifndef RTT_INTERFACEGATEWAY_H #define RTT_INTERFACEGATEWAY_H diff --git a/roboteam_ai/include/roboteam_ai/gui/networking/InterfacePublisher.h b/roboteam_ai/include/roboteam_ai/gui/networking/InterfacePublisher.h index ec231b6f8..fe1c0b85b 100644 --- a/roboteam_ai/include/roboteam_ai/gui/networking/InterfacePublisher.h +++ b/roboteam_ai/include/roboteam_ai/gui/networking/InterfacePublisher.h @@ -1,7 +1,3 @@ -// -// Created by Martin Miksik on 24/05/2023. -// - #ifndef RTT_INTERFACEPUBLISHER_H #define RTT_INTERFACEPUBLISHER_H diff --git a/roboteam_ai/include/roboteam_ai/gui/networking/InterfaceSubscriber.h b/roboteam_ai/include/roboteam_ai/gui/networking/InterfaceSubscriber.h index 09f5f973d..96e9d8c09 100644 --- a/roboteam_ai/include/roboteam_ai/gui/networking/InterfaceSubscriber.h +++ b/roboteam_ai/include/roboteam_ai/gui/networking/InterfaceSubscriber.h @@ -1,7 +1,3 @@ -// -// Created by Martin Miksik on 24/05/2023. -// - #ifndef RTT_INTERFACESUBSCRIBER_H #define RTT_INTERFACESUBSCRIBER_H #include diff --git a/roboteam_ai/include/roboteam_ai/interface/api/Output.h b/roboteam_ai/include/roboteam_ai/interface/api/Output.h index 130419d71..996b771ab 100644 --- a/roboteam_ai/include/roboteam_ai/interface/api/Output.h +++ b/roboteam_ai/include/roboteam_ai/interface/api/Output.h @@ -1,7 +1,3 @@ -// -// Created by mrlukasbos on 18-1-19. -// - #ifndef ROBOTEAM_AI_OUTPUT_H #define ROBOTEAM_AI_OUTPUT_H diff --git a/roboteam_ai/include/roboteam_ai/stp/Play.hpp b/roboteam_ai/include/roboteam_ai/stp/Play.hpp index 9a0cf08c1..2193259f6 100644 --- a/roboteam_ai/include/roboteam_ai/stp/Play.hpp +++ b/roboteam_ai/include/roboteam_ai/stp/Play.hpp @@ -1,7 +1,3 @@ -// -// Created by john on 3/9/20. -// - #ifndef RTT_PLAY_HPP #define RTT_PLAY_HPP diff --git a/roboteam_ai/include/roboteam_ai/stp/PlayDecider.hpp b/roboteam_ai/include/roboteam_ai/stp/PlayDecider.hpp index aa13f793f..8569980cd 100644 --- a/roboteam_ai/include/roboteam_ai/stp/PlayDecider.hpp +++ b/roboteam_ai/include/roboteam_ai/stp/PlayDecider.hpp @@ -1,7 +1,3 @@ -// -// Created by john on 3/9/20. -// - #ifndef RTT_PLAYDECIDER_HPP #define RTT_PLAYDECIDER_HPP diff --git a/roboteam_ai/include/roboteam_ai/stp/PlayEvaluator.h b/roboteam_ai/include/roboteam_ai/stp/PlayEvaluator.h index a89c5738c..89f83efc4 100644 --- a/roboteam_ai/include/roboteam_ai/stp/PlayEvaluator.h +++ b/roboteam_ai/include/roboteam_ai/stp/PlayEvaluator.h @@ -1,7 +1,3 @@ -// -// Created by maxl on 18-02-21. -// - #ifndef RTT_PLAYEVALUATOR_H #define RTT_PLAYEVALUATOR_H diff --git a/roboteam_ai/include/roboteam_ai/stp/Role.hpp b/roboteam_ai/include/roboteam_ai/stp/Role.hpp index aca276d45..c838448ef 100644 --- a/roboteam_ai/include/roboteam_ai/stp/Role.hpp +++ b/roboteam_ai/include/roboteam_ai/stp/Role.hpp @@ -1,7 +1,3 @@ -// -// Created by john on 3/9/20. -// - #ifndef RTT_ROLE_HPP #define RTT_ROLE_HPP diff --git a/roboteam_ai/include/roboteam_ai/stp/Skill.h b/roboteam_ai/include/roboteam_ai/stp/Skill.h index 028299e05..255ad9f6a 100644 --- a/roboteam_ai/include/roboteam_ai/stp/Skill.h +++ b/roboteam_ai/include/roboteam_ai/stp/Skill.h @@ -1,7 +1,3 @@ -// -// Created by john on 3/2/20. -// - #ifndef RTT_SKILL_H #define RTT_SKILL_H diff --git a/roboteam_ai/include/roboteam_ai/stp/StpInfo.h b/roboteam_ai/include/roboteam_ai/stp/StpInfo.h index 2f30e45cf..0e6557e92 100644 --- a/roboteam_ai/include/roboteam_ai/stp/StpInfo.h +++ b/roboteam_ai/include/roboteam_ai/stp/StpInfo.h @@ -1,7 +1,3 @@ -// -// Created by john on 3/2/20. -// - #ifndef RTT_STPINFO_H #define RTT_STPINFO_H diff --git a/roboteam_ai/include/roboteam_ai/stp/Tactic.h b/roboteam_ai/include/roboteam_ai/stp/Tactic.h index beae157b8..12c38e949 100644 --- a/roboteam_ai/include/roboteam_ai/stp/Tactic.h +++ b/roboteam_ai/include/roboteam_ai/stp/Tactic.h @@ -1,7 +1,3 @@ -// -// Created by jessevw on 03.03.20. -// - #ifndef RTT_TACTIC_H #define RTT_TACTIC_H diff --git a/roboteam_ai/include/roboteam_ai/stp/computations/ComputationManager.h b/roboteam_ai/include/roboteam_ai/stp/computations/ComputationManager.h index bedd2144d..484762129 100644 --- a/roboteam_ai/include/roboteam_ai/stp/computations/ComputationManager.h +++ b/roboteam_ai/include/roboteam_ai/stp/computations/ComputationManager.h @@ -1,7 +1,3 @@ -// -// Created by alexander on 02-12-21. -// - #ifndef RTT_COMPUTATIONMANAGER_H #define RTT_COMPUTATIONMANAGER_H diff --git a/roboteam_ai/include/roboteam_ai/stp/computations/GoalComputations.h b/roboteam_ai/include/roboteam_ai/stp/computations/GoalComputations.h index 0c22978d9..06e7695b0 100644 --- a/roboteam_ai/include/roboteam_ai/stp/computations/GoalComputations.h +++ b/roboteam_ai/include/roboteam_ai/stp/computations/GoalComputations.h @@ -1,7 +1,3 @@ -// -// Created by maxl on 11-02-21. -// - #ifndef RTT_GOALCOMPUTATIONS_H #define RTT_GOALCOMPUTATIONS_H diff --git a/roboteam_ai/include/roboteam_ai/stp/computations/PassComputations.h b/roboteam_ai/include/roboteam_ai/stp/computations/PassComputations.h index 98da29ade..acce0857b 100644 --- a/roboteam_ai/include/roboteam_ai/stp/computations/PassComputations.h +++ b/roboteam_ai/include/roboteam_ai/stp/computations/PassComputations.h @@ -1,7 +1,3 @@ -// -// Created by maxl on 11-02-21. -// - #ifndef RTT_PASSCOMPUTATIONS_H #define RTT_PASSCOMPUTATIONS_H diff --git a/roboteam_ai/include/roboteam_ai/stp/computations/PositionComputations.h b/roboteam_ai/include/roboteam_ai/stp/computations/PositionComputations.h index fa89f2c92..f6d57ad32 100644 --- a/roboteam_ai/include/roboteam_ai/stp/computations/PositionComputations.h +++ b/roboteam_ai/include/roboteam_ai/stp/computations/PositionComputations.h @@ -1,7 +1,3 @@ -// -// Created by maxl on 09-02-21. -// - #ifndef RTT_POSITIONCOMPUTATIONS_H #define RTT_POSITIONCOMPUTATIONS_H diff --git a/roboteam_ai/include/roboteam_ai/stp/computations/PositionScoring.h b/roboteam_ai/include/roboteam_ai/stp/computations/PositionScoring.h index dcd20ac6b..39275851f 100644 --- a/roboteam_ai/include/roboteam_ai/stp/computations/PositionScoring.h +++ b/roboteam_ai/include/roboteam_ai/stp/computations/PositionScoring.h @@ -1,7 +1,3 @@ -// -// Created by alexander on 02-12-21. -// - #ifndef RTT_POSITIONSCORING_H #define RTT_POSITIONSCORING_H diff --git a/roboteam_ai/include/roboteam_ai/stp/constants/GeneralizationConstants.h b/roboteam_ai/include/roboteam_ai/stp/constants/GeneralizationConstants.h index 288bed047..6bd88162f 100644 --- a/roboteam_ai/include/roboteam_ai/stp/constants/GeneralizationConstants.h +++ b/roboteam_ai/include/roboteam_ai/stp/constants/GeneralizationConstants.h @@ -1,7 +1,3 @@ -// -// Created by maxl on 19-03-21. -// - #ifndef RTT_GENERALIZATIONCONSTANTS_H #define RTT_GENERALIZATIONCONSTANTS_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/BaseEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/BaseEvaluation.h index 1cc69359d..d924ef054 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/BaseEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/BaseEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 27-03-20. -// - #ifndef RTT_BASEEVALUATION_H #define RTT_BASEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/BallPlacementThemGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/BallPlacementThemGameStateEvaluation.h index 688959bbc..32e012c67 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/BallPlacementThemGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/BallPlacementThemGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 4/20/20. -// - #ifndef RTT_BALLPLACEMENTTHEMGAMESTATEEVALUATION_H #define RTT_BALLPLACEMENTTHEMGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/BallPlacementUsDirectGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/BallPlacementUsDirectGameStateEvaluation.h index 5d1f56a0a..e2e79b945 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/BallPlacementUsDirectGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/BallPlacementUsDirectGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 4/14/20. -// - #ifndef RTT_BALLPLACEMENTUSDIRECTGAMESTATEEVALUATION_H #define RTT_BALLPLACEMENTUSDIRECTGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/BallPlacementUsGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/BallPlacementUsGameStateEvaluation.h index 30859f35a..e1d572134 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/BallPlacementUsGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/BallPlacementUsGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 4/14/20. -// - #ifndef RTT_BALLPLACEMENTUSGAMESTATEEVALUATION_H #define RTT_BALLPLACEMENTUSGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/FreeKickThemGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/FreeKickThemGameStateEvaluation.h index 5532a9e05..927f1dd08 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/FreeKickThemGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/FreeKickThemGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #ifndef RTT_FREEKICKTHEMGAMESTATEEVALUATION_H #define RTT_FREEKICKTHEMGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/FreeKickUsGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/FreeKickUsGameStateEvaluation.h index 3ae77d2f6..15565a07a 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/FreeKickUsGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/FreeKickUsGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #ifndef RTT_FREEKICKUSGAMESTATEEVALUATION_H #define RTT_FREEKICKUSGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/HaltGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/HaltGameStateEvaluation.h index 92fe1a8c7..c8b4b6057 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/HaltGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/HaltGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 27-03-20. -// - #ifndef RTT_HALTGAMESTATEEVALUATION_H #define RTT_HALTGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffThemGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffThemGameStateEvaluation.h index 1d6d5da80..dcc284b24 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffThemGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffThemGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #ifndef RTT_KICKOFFTHEMGAMESTATEEVALUATION_H #define RTT_KICKOFFTHEMGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffThemPrepareGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffThemPrepareGameStateEvaluation.h index 458dd371b..706672f74 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffThemPrepareGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffThemPrepareGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #ifndef RTT_KICKOFFTHEMPREPAREGAMESTATEEVALUATION_H #define RTT_KICKOFFTHEMPREPAREGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffUsGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffUsGameStateEvaluation.h index 38c142de4..2d42c200c 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffUsGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffUsGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #ifndef RTT_KICKOFFUSGAMESTATEEVALUATION_H #define RTT_KICKOFFUSGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffUsOrNormalGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffUsOrNormalGameStateEvaluation.h index 6d8f9435f..3e5e7e362 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffUsOrNormalGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffUsOrNormalGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by Alexander on 28-01-2022 -// - #ifndef RTT_KICKOFFUSORNORMALGAMESTATEEVALUATION_H #define RTT_KICKOFFUSORNORMALGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffUsPrepareGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffUsPrepareGameStateEvaluation.h index 2786693ce..54477b894 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffUsPrepareGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/KickOffUsPrepareGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #ifndef RTT_KICKOFFUSPREPAREGAMESTATEEVALUATION_H #define RTT_KICKOFFUSPREPAREGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/NormalOrFreeKickUsGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/NormalOrFreeKickUsGameStateEvaluation.h index f86b4087f..63d9b313f 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/NormalOrFreeKickUsGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/NormalOrFreeKickUsGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 15-05-20. -// - #ifndef RTT_NORMALORFREEKICKUSGAMESTATEEVALUATION_H #define RTT_NORMALORFREEKICKUSGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/NormalPlayGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/NormalPlayGameStateEvaluation.h index 154939928..c6205b51c 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/NormalPlayGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/NormalPlayGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #ifndef RTT_NORMALPLAYGAMESTATEEVALUATION_H #define RTT_NORMALPLAYGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyThemGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyThemGameStateEvaluation.h index 148805da4..74c897e52 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyThemGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyThemGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #ifndef RTT_PENALTYTHEMGAMESTATEEVALUATION_H #define RTT_PENALTYTHEMGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyThemPrepareGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyThemPrepareGameStateEvaluation.h index 4c6a91a8f..f26042433 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyThemPrepareGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyThemPrepareGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #ifndef RTT_PENALTYTHEMPREPAREGAMESTATEEVALUATION_H #define RTT_PENALTYTHEMPREPAREGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyUsGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyUsGameStateEvaluation.h index 9bacfc137..7716a01a4 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyUsGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyUsGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #ifndef RTT_PENALTYUSGAMESTATEEVALUATION_H #define RTT_PENALTYUSGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyUsPrepareGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyUsPrepareGameStateEvaluation.h index f5ee01b24..093f4d9e7 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyUsPrepareGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/PenaltyUsPrepareGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #ifndef RTT_PENALTYUSPREPAREGAMESTATEEVALUATION_H #define RTT_PENALTYUSPREPAREGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/StopGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/StopGameStateEvaluation.h index 714946cd1..6825b8981 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/StopGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/StopGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #ifndef RTT_STOPGAMESTATEEVALUATION_H #define RTT_STOPGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/TimeOutGameStateEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/TimeOutGameStateEvaluation.h index f7a2beeba..cd5445326 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/TimeOutGameStateEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/game_states/TimeOutGameStateEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #ifndef RTT_TIMEOUTGAMESTATEEVALUATION_H #define RTT_TIMEOUTGAMESTATEEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallInOurDefenseAreaAndStillGlobalEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallInOurDefenseAreaAndStillGlobalEvaluation.h index 0253e77b4..c288652e6 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallInOurDefenseAreaAndStillGlobalEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallInOurDefenseAreaAndStillGlobalEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by Alexander on 29-01-2022 -// - #ifndef RTT_BALLINOURDEFENSEAREAANDSTILL_H #define RTT_BALLINOURDEFENSEAREAANDSTILL_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallNotInOurDefenseAreaAndStillGlobalEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallNotInOurDefenseAreaAndStillGlobalEvaluation.h index c32a98d94..fd00f43a6 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallNotInOurDefenseAreaAndStillGlobalEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallNotInOurDefenseAreaAndStillGlobalEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by Alexander on 29-01-2022 -// - #ifndef RTT_BALLNOTINOURDEFENSEAREAANDSTILL_H #define RTT_BALLNOTINOURDEFENSEAREAANDSTILL_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallOnOurSideGlobalEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallOnOurSideGlobalEvaluation.h index 94e92da07..6dde40f14 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallOnOurSideGlobalEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallOnOurSideGlobalEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 4/14/20. -// - #ifndef RTT_BALLONOURSIDEGLOBALEVALUATION_H #define RTT_BALLONOURSIDEGLOBALEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallOnTheirSideGlobalEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallOnTheirSideGlobalEvaluation.h index 0ebc16a9d..2408b4eed 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallOnTheirSideGlobalEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/BallOnTheirSideGlobalEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by jaro on 30-10-20. -// - #ifndef RTT_BALLONTHEIRSIDEGLOBALEVALUATION_H #define RTT_BALLONTHEIRSIDEGLOBALEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/TheyDoNotHaveBallGlobalEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/TheyDoNotHaveBallGlobalEvaluation.h index f9067db7c..bf8a5fb9e 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/TheyDoNotHaveBallGlobalEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/TheyDoNotHaveBallGlobalEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by Alexander on 27-03-20. -// - #ifndef RTT_THEYDONOTHAVEBALLGLOBALEVALUATION_H #define RTT_THEYDONOTHAVEBALLGLOBALEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/TheyHaveBallGlobalEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/TheyHaveBallGlobalEvaluation.h index 1d86f703a..78e5ffb41 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/TheyHaveBallGlobalEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/TheyHaveBallGlobalEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 27-03-20. -// - #ifndef RTT_THEYHAVEBALLGLOBALEVALUATION_H #define RTT_THEYHAVEBALLGLOBALEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/WeDoNotHaveBallGlobalEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/WeDoNotHaveBallGlobalEvaluation.h index 3eb0a88fe..3aa69988c 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/WeDoNotHaveBallGlobalEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/WeDoNotHaveBallGlobalEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 27-03-20. -// - #ifndef RTT_WEDONOTHAVEBALLGLOBALEVALUATION_H #define RTT_WEDONOTHAVEBALLGLOBALEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/WeHaveBallGlobalEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/WeHaveBallGlobalEvaluation.h index 15f2c2813..f46042df7 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/global/WeHaveBallGlobalEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/global/WeHaveBallGlobalEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 27-03-20. -// - #ifndef RTT_WEHAVEBALLGLOBALEVALUATION_H #define RTT_WEHAVEBALLGLOBALEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/position/GoalShotEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/position/GoalShotEvaluation.h index 3e2a5c725..465cfe158 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/position/GoalShotEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/position/GoalShotEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by maxl on 23-03-21. -// - #ifndef RTT_GOALSHOTEVALUATION_H #define RTT_GOALSHOTEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/position/LineOfSightEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/position/LineOfSightEvaluation.h index 4365ef83c..e03c712ad 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/position/LineOfSightEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/position/LineOfSightEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by maxl on 22-03-21. -// - #ifndef RTT_LINEOFSIGHTEVALUATION_H #define RTT_LINEOFSIGHTEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/evaluations/position/OpennessEvaluation.h b/roboteam_ai/include/roboteam_ai/stp/evaluations/position/OpennessEvaluation.h index c5259cc55..4f9d72c31 100644 --- a/roboteam_ai/include/roboteam_ai/stp/evaluations/position/OpennessEvaluation.h +++ b/roboteam_ai/include/roboteam_ai/stp/evaluations/position/OpennessEvaluation.h @@ -1,7 +1,3 @@ -// -// Created by maxl on 19-03-21. -// - #ifndef RTT_OPENNESSEVALUATION_H #define RTT_OPENNESSEVALUATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/defensive/DefendPass.h b/roboteam_ai/include/roboteam_ai/stp/plays/defensive/DefendPass.h index 92f1e8225..aeaf38d9d 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/defensive/DefendPass.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/defensive/DefendPass.h @@ -1,7 +1,3 @@ -// -// Created by agata on 14/01/2022. -// - #ifndef RTT_DEFENDPASS_H #define RTT_DEFENDPASS_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/defensive/DefendShot.h b/roboteam_ai/include/roboteam_ai/stp/plays/defensive/DefendShot.h index f1f80890f..b7970f6e7 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/defensive/DefendShot.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/defensive/DefendShot.h @@ -1,7 +1,3 @@ -// -// Created by agata on 14/01/2022. -// - #ifndef RTT_DEFENDSHOT_H #define RTT_DEFENDSHOT_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/defensive/KeeperKickBall.h b/roboteam_ai/include/roboteam_ai/stp/plays/defensive/KeeperKickBall.h index bc68e9dfd..12b7f0d43 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/defensive/KeeperKickBall.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/defensive/KeeperKickBall.h @@ -1,7 +1,3 @@ -// -// Created by Alexander on 29/01/2022. -// - #ifndef RTT_KEEPERKICKBALL_H #define RTT_KEEPERKICKBALL_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/offensive/Attack.h b/roboteam_ai/include/roboteam_ai/stp/plays/offensive/Attack.h index 4c8dd7fc8..c91907651 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/offensive/Attack.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/offensive/Attack.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 24-03-20. -// - #ifndef RTT_ATTACK_H #define RTT_ATTACK_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/offensive/AttackingPass.h b/roboteam_ai/include/roboteam_ai/stp/plays/offensive/AttackingPass.h index cb986c4b3..617a1d099 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/offensive/AttackingPass.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/offensive/AttackingPass.h @@ -1,7 +1,3 @@ -// -// Created by jessevw on 17.03.20. -// - #ifndef RTT_ATTACKING_PASS_PLAY_H #define RTT_ATTACKING_PASS_PLAY_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/offensive/ChippingPass.h b/roboteam_ai/include/roboteam_ai/stp/plays/offensive/ChippingPass.h index 010c178a4..b9b484f86 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/offensive/ChippingPass.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/offensive/ChippingPass.h @@ -1,7 +1,3 @@ -// -// Created by doormat on 22-11-22. -// - #ifndef RTT_CHIPPINGPASS_H #define RTT_CHIPPINGPASS_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/AggressiveStopFormation.h b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/AggressiveStopFormation.h index 689ec29bd..def145fc2 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/AggressiveStopFormation.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/AggressiveStopFormation.h @@ -1,7 +1,3 @@ -// -// Created by timo on 3/30/20. -// - #ifndef RTT_AGGRESSIVESTOPFORMATION_H #define RTT_AGGRESSIVESTOPFORMATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/DefensiveStopFormation.h b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/DefensiveStopFormation.h index 060cb2802..87ec829f3 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/DefensiveStopFormation.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/DefensiveStopFormation.h @@ -1,7 +1,3 @@ -// -// Created by timo on 3/27/20. -// - #ifndef RTT_DEFENSIVESTOPFORMATION_H #define RTT_DEFENSIVESTOPFORMATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/FreeKickThem.h b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/FreeKickThem.h index 17af62e34..7248dedda 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/FreeKickThem.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/FreeKickThem.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 07-05-20. -// - #ifndef RTT_FREEKICKTHEM_H #define RTT_FREEKICKTHEM_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/FreeKickUsAtGoal.h b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/FreeKickUsAtGoal.h index 229d70dbc..456f25360 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/FreeKickUsAtGoal.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/FreeKickUsAtGoal.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 24-03-20. -// - #ifndef RTT_FREEKICKUSATGOAL_H #define RTT_FREEKICKUSATGOAL_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/FreeKickUsPass.h b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/FreeKickUsPass.h index 2bf0371b6..97f715153 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/FreeKickUsPass.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/FreeKickUsPass.h @@ -1,7 +1,3 @@ -// -// Created by jessevw on 17.03.20. -// - #ifndef RTT_FREE_KICK_US_PASS_PLAY_H #define RTT_FREE_KICK_US_PASS_PLAY_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/Halt.h b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/Halt.h index 7cab78e7b..f9dc98ab9 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/Halt.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/Halt.h @@ -1,7 +1,3 @@ -// -// Created by jessevw on 24.03.20. -// - #ifndef RTT_HALT_PLAY_H #define RTT_HALT_PLAY_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffThem.h b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffThem.h index 106ad2407..87bfbcd9e 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffThem.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffThem.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 5/1/20. -// - #ifndef RTT_KICKOFFTHEM_H #define RTT_KICKOFFTHEM_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffThemPrepare.h b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffThemPrepare.h index 5819dea2f..f56dcc488 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffThemPrepare.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffThemPrepare.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 30-04-20. -// - #ifndef RTT_KICKOFFTHEMPREPARE_H #define RTT_KICKOFFTHEMPREPARE_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffUs.h b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffUs.h index f3e7e89c0..7eb0f4c3f 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffUs.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffUs.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 5/1/20. -// - #ifndef RTT_KICKOFFUS_H #define RTT_KICKOFFUS_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffUsPrepare.h b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffUsPrepare.h index 2341ab9ff..0558ac271 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffUsPrepare.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/KickOffUsPrepare.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 30-04-20. -// - #ifndef RTT_KICKOFFUSPREPARE_H #define RTT_KICKOFFUSPREPARE_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyThem.h b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyThem.h index 4aef1d770..822a513ef 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyThem.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyThem.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 4/28/20. -// - #ifndef RTT_PENALTYTHEM_H #define RTT_PENALTYTHEM_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyThemPrepare.h b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyThemPrepare.h index 329e8d5b9..f8d52b75d 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyThemPrepare.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyThemPrepare.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 5/1/20. -// - #ifndef RTT_PENALTYTHEMPREPARE_H #define RTT_PENALTYTHEMPREPARE_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyUs.h b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyUs.h index 22a31a570..64b47e443 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyUs.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyUs.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 5/1/20. -// - #ifndef RTT_PENALTYUS_H #define RTT_PENALTYUS_H diff --git a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyUsPrepare.h b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyUsPrepare.h index ebb1adaa4..bd06f0b72 100644 --- a/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyUsPrepare.h +++ b/roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/PenaltyUsPrepare.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 5/1/20. -// - #ifndef RTT_PENALTYUSPREPARE_H #define RTT_PENALTYUSPREPARE_H diff --git a/roboteam_ai/include/roboteam_ai/stp/roles/Keeper.h b/roboteam_ai/include/roboteam_ai/stp/roles/Keeper.h index 52693c897..97976f807 100644 --- a/roboteam_ai/include/roboteam_ai/stp/roles/Keeper.h +++ b/roboteam_ai/include/roboteam_ai/stp/roles/Keeper.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 08-04-20. -// - #ifndef RTT_KEEPER_H #define RTT_KEEPER_H diff --git a/roboteam_ai/include/roboteam_ai/stp/roles/PenaltyKeeper.h b/roboteam_ai/include/roboteam_ai/stp/roles/PenaltyKeeper.h index ac560759c..527d7bbfe 100644 --- a/roboteam_ai/include/roboteam_ai/stp/roles/PenaltyKeeper.h +++ b/roboteam_ai/include/roboteam_ai/stp/roles/PenaltyKeeper.h @@ -1,8 +1,3 @@ -// -// Created by jordi on 08-04-20. -// Modified by timovdk on 4/29/20. -// - #ifndef RTT_PENALTYKEEPER_H #define RTT_PENALTYKEEPER_H diff --git a/roboteam_ai/include/roboteam_ai/stp/roles/TestRole.h b/roboteam_ai/include/roboteam_ai/stp/roles/TestRole.h index 71e44594f..872aacf96 100644 --- a/roboteam_ai/include/roboteam_ai/stp/roles/TestRole.h +++ b/roboteam_ai/include/roboteam_ai/stp/roles/TestRole.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 3/10/20. -// - #ifndef RTT_TESTROLE_H #define RTT_TESTROLE_H diff --git a/roboteam_ai/include/roboteam_ai/stp/roles/active/BallPlacer.h b/roboteam_ai/include/roboteam_ai/stp/roles/active/BallPlacer.h index df30678f0..98e02afec 100644 --- a/roboteam_ai/include/roboteam_ai/stp/roles/active/BallPlacer.h +++ b/roboteam_ai/include/roboteam_ai/stp/roles/active/BallPlacer.h @@ -1,7 +1,3 @@ -// -// Created by RobotJesse -// - #ifndef RTT_BALLPLACER_H #define RTT_BALLPLACER_H diff --git a/roboteam_ai/include/roboteam_ai/stp/roles/active/Chipper.h b/roboteam_ai/include/roboteam_ai/stp/roles/active/Chipper.h index 444172f41..2f29dbeca 100644 --- a/roboteam_ai/include/roboteam_ai/stp/roles/active/Chipper.h +++ b/roboteam_ai/include/roboteam_ai/stp/roles/active/Chipper.h @@ -1,7 +1,3 @@ -// -// Created by doormat on 22-11-22. -// - #ifndef RTT_CHIPPER_H #define RTT_CHIPPER_H diff --git a/roboteam_ai/include/roboteam_ai/stp/roles/active/FreeKickTaker.h b/roboteam_ai/include/roboteam_ai/stp/roles/active/FreeKickTaker.h index 3b228d709..b9f4f378e 100644 --- a/roboteam_ai/include/roboteam_ai/stp/roles/active/FreeKickTaker.h +++ b/roboteam_ai/include/roboteam_ai/stp/roles/active/FreeKickTaker.h @@ -1,7 +1,3 @@ -// -// Created Alexander on 22-04-2022 -// - #ifndef RTT_FREEKICKTAKER_H #define RTT_FREEKICKTAKER_H diff --git a/roboteam_ai/include/roboteam_ai/stp/roles/active/Harasser.h b/roboteam_ai/include/roboteam_ai/stp/roles/active/Harasser.h index 3ea68207e..87ae5f095 100644 --- a/roboteam_ai/include/roboteam_ai/stp/roles/active/Harasser.h +++ b/roboteam_ai/include/roboteam_ai/stp/roles/active/Harasser.h @@ -1,7 +1,3 @@ -// -// Created by tijmen on 24-04-22. -// - #ifndef RTT_HARASSER_H #define RTT_HARASSER_H diff --git a/roboteam_ai/include/roboteam_ai/stp/roles/active/KeeperPasser.h b/roboteam_ai/include/roboteam_ai/stp/roles/active/KeeperPasser.h index fae55e367..fac06e09b 100644 --- a/roboteam_ai/include/roboteam_ai/stp/roles/active/KeeperPasser.h +++ b/roboteam_ai/include/roboteam_ai/stp/roles/active/KeeperPasser.h @@ -1,7 +1,3 @@ -// -// Created by tijmen on 14-07-22. -// - #ifndef RTT_KEEPERPASSER_H #define RTT_KEEPERPASSER_H diff --git a/roboteam_ai/include/roboteam_ai/stp/roles/active/PassReceiver.h b/roboteam_ai/include/roboteam_ai/stp/roles/active/PassReceiver.h index 77672b8bd..7cc9ff996 100644 --- a/roboteam_ai/include/roboteam_ai/stp/roles/active/PassReceiver.h +++ b/roboteam_ai/include/roboteam_ai/stp/roles/active/PassReceiver.h @@ -1,7 +1,3 @@ -// -// Created by jessevw on 17.03.20. -// - #ifndef RTT_PASSRECEIVER_H #define RTT_PASSRECEIVER_H diff --git a/roboteam_ai/include/roboteam_ai/stp/roles/active/Passer.h b/roboteam_ai/include/roboteam_ai/stp/roles/active/Passer.h index 9353e43f8..d10e06337 100644 --- a/roboteam_ai/include/roboteam_ai/stp/roles/active/Passer.h +++ b/roboteam_ai/include/roboteam_ai/stp/roles/active/Passer.h @@ -1,7 +1,3 @@ -// -// Created by jessevw on 17.03.20. -// - #ifndef RTT_PASSER_H #define RTT_PASSER_H diff --git a/roboteam_ai/include/roboteam_ai/stp/roles/active/Striker.h b/roboteam_ai/include/roboteam_ai/stp/roles/active/Striker.h index 9139266cf..8a88856da 100644 --- a/roboteam_ai/include/roboteam_ai/stp/roles/active/Striker.h +++ b/roboteam_ai/include/roboteam_ai/stp/roles/active/Striker.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 17-03-20. -// - #ifndef RTT_STRIKER_H #define RTT_STRIKER_H diff --git a/roboteam_ai/include/roboteam_ai/stp/roles/passive/Defender.h b/roboteam_ai/include/roboteam_ai/stp/roles/passive/Defender.h index d51f5abe5..8d788f563 100644 --- a/roboteam_ai/include/roboteam_ai/stp/roles/passive/Defender.h +++ b/roboteam_ai/include/roboteam_ai/stp/roles/passive/Defender.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 26-03-20. -// - #ifndef RTT_DEFENDER_H #define RTT_DEFENDER_H diff --git a/roboteam_ai/include/roboteam_ai/stp/roles/passive/Formation.h b/roboteam_ai/include/roboteam_ai/stp/roles/passive/Formation.h index 90dfec7e2..62250fd7c 100644 --- a/roboteam_ai/include/roboteam_ai/stp/roles/passive/Formation.h +++ b/roboteam_ai/include/roboteam_ai/stp/roles/passive/Formation.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 3/27/20. -// - #ifndef RTT_FORMATION_H #define RTT_FORMATION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/roles/passive/Halt.h b/roboteam_ai/include/roboteam_ai/stp/roles/passive/Halt.h index 9227f95c0..b9968ea28 100644 --- a/roboteam_ai/include/roboteam_ai/stp/roles/passive/Halt.h +++ b/roboteam_ai/include/roboteam_ai/stp/roles/passive/Halt.h @@ -1,7 +1,3 @@ -// -// Created by jessevw on 24.03.20. -// - #ifndef RTT_HALT_H #define RTT_HALT_H diff --git a/roboteam_ai/include/roboteam_ai/stp/skills/Chip.h b/roboteam_ai/include/roboteam_ai/stp/skills/Chip.h index 79b7ee162..2e38bed10 100644 --- a/roboteam_ai/include/roboteam_ai/stp/skills/Chip.h +++ b/roboteam_ai/include/roboteam_ai/stp/skills/Chip.h @@ -1,8 +1,3 @@ -// -// Created by jordi on 09-03-20. -// -// Skill for chipping - #ifndef RTT_CHIP_H #define RTT_CHIP_H diff --git a/roboteam_ai/include/roboteam_ai/stp/skills/GoToPos.h b/roboteam_ai/include/roboteam_ai/stp/skills/GoToPos.h index 8b604baae..b037c84b9 100644 --- a/roboteam_ai/include/roboteam_ai/stp/skills/GoToPos.h +++ b/roboteam_ai/include/roboteam_ai/stp/skills/GoToPos.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 09-03-20. -// - #ifndef RTT_GOTOPOS_H #define RTT_GOTOPOS_H diff --git a/roboteam_ai/include/roboteam_ai/stp/skills/Kick.h b/roboteam_ai/include/roboteam_ai/stp/skills/Kick.h index 3d2f56aae..47cf630f1 100644 --- a/roboteam_ai/include/roboteam_ai/stp/skills/Kick.h +++ b/roboteam_ai/include/roboteam_ai/stp/skills/Kick.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 03-03-20. -// - #ifndef RTT_KICK_H #define RTT_KICK_H diff --git a/roboteam_ai/include/roboteam_ai/stp/skills/Orbit.h b/roboteam_ai/include/roboteam_ai/stp/skills/Orbit.h index e6a950015..0cf3b2489 100644 --- a/roboteam_ai/include/roboteam_ai/stp/skills/Orbit.h +++ b/roboteam_ai/include/roboteam_ai/stp/skills/Orbit.h @@ -1,7 +1,3 @@ -// -// Created by mamiksik on 22-04-21. -// - #ifndef RTT_ORBIT_H #define RTT_ORBIT_H diff --git a/roboteam_ai/include/roboteam_ai/stp/skills/OrbitAngular.h b/roboteam_ai/include/roboteam_ai/stp/skills/OrbitAngular.h index ac380e37a..3687aab39 100644 --- a/roboteam_ai/include/roboteam_ai/stp/skills/OrbitAngular.h +++ b/roboteam_ai/include/roboteam_ai/stp/skills/OrbitAngular.h @@ -1,7 +1,3 @@ -// -// Created by tijmen on 01-07-22. -// - #ifndef RTT_ORBITANGULAR_H #define RTT_ORBITANGULAR_H diff --git a/roboteam_ai/include/roboteam_ai/stp/skills/Rotate.h b/roboteam_ai/include/roboteam_ai/stp/skills/Rotate.h index d0ba43809..f572eec48 100644 --- a/roboteam_ai/include/roboteam_ai/stp/skills/Rotate.h +++ b/roboteam_ai/include/roboteam_ai/stp/skills/Rotate.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 06-03-20. -// - #ifndef RTT_ROTATE_H #define RTT_ROTATE_H diff --git a/roboteam_ai/include/roboteam_ai/stp/skills/TestSkill.h b/roboteam_ai/include/roboteam_ai/stp/skills/TestSkill.h index 7db9e8f91..281dcf7d5 100644 --- a/roboteam_ai/include/roboteam_ai/stp/skills/TestSkill.h +++ b/roboteam_ai/include/roboteam_ai/stp/skills/TestSkill.h @@ -1,7 +1,3 @@ -// -// Created by rtt-vision on 12-10-21. -// - #ifndef RTT_TESTSKILL_H #define RTT_TESTSKILL_H diff --git a/roboteam_ai/include/roboteam_ai/stp/tactics/KeeperBlockBall.h b/roboteam_ai/include/roboteam_ai/stp/tactics/KeeperBlockBall.h index 33ade1860..2e17c1b75 100644 --- a/roboteam_ai/include/roboteam_ai/stp/tactics/KeeperBlockBall.h +++ b/roboteam_ai/include/roboteam_ai/stp/tactics/KeeperBlockBall.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 08-04-20. -// - #ifndef RTT_KEEPERBLOCKBALL_H #define RTT_KEEPERBLOCKBALL_H diff --git a/roboteam_ai/include/roboteam_ai/stp/tactics/TestTactic.h b/roboteam_ai/include/roboteam_ai/stp/tactics/TestTactic.h index 198150346..2fb86a1c2 100644 --- a/roboteam_ai/include/roboteam_ai/stp/tactics/TestTactic.h +++ b/roboteam_ai/include/roboteam_ai/stp/tactics/TestTactic.h @@ -1,7 +1,3 @@ -// -// Created by roboteam on 9/3/20. -// - #ifndef RTT_TESTTACTIC_H #define RTT_TESTTACTIC_H diff --git a/roboteam_ai/include/roboteam_ai/stp/tactics/active/ChipAtPos.h b/roboteam_ai/include/roboteam_ai/stp/tactics/active/ChipAtPos.h index 7bf72226f..04f657940 100644 --- a/roboteam_ai/include/roboteam_ai/stp/tactics/active/ChipAtPos.h +++ b/roboteam_ai/include/roboteam_ai/stp/tactics/active/ChipAtPos.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 3/13/20. -// rotate and chip - #ifndef RTT_CHIPATPOS_H #define RTT_CHIPATPOS_H diff --git a/roboteam_ai/include/roboteam_ai/stp/tactics/active/DriveWithBall.h b/roboteam_ai/include/roboteam_ai/stp/tactics/active/DriveWithBall.h index 47ed74cdc..cc2b80e0b 100644 --- a/roboteam_ai/include/roboteam_ai/stp/tactics/active/DriveWithBall.h +++ b/roboteam_ai/include/roboteam_ai/stp/tactics/active/DriveWithBall.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 3/16/20. -// - #ifndef RTT_DRIVEWITHBALL_H #define RTT_DRIVEWITHBALL_H diff --git a/roboteam_ai/include/roboteam_ai/stp/tactics/active/GetBall.h b/roboteam_ai/include/roboteam_ai/stp/tactics/active/GetBall.h index 6d4b2db4f..639164bb0 100644 --- a/roboteam_ai/include/roboteam_ai/stp/tactics/active/GetBall.h +++ b/roboteam_ai/include/roboteam_ai/stp/tactics/active/GetBall.h @@ -1,7 +1,3 @@ -// -// Created by ratoone on 10-03-20. -// - #ifndef RTT_GETBALL_H #define RTT_GETBALL_H diff --git a/roboteam_ai/include/roboteam_ai/stp/tactics/active/GetBehindBallInDirection.h b/roboteam_ai/include/roboteam_ai/stp/tactics/active/GetBehindBallInDirection.h index 1924a1175..c791c6582 100644 --- a/roboteam_ai/include/roboteam_ai/stp/tactics/active/GetBehindBallInDirection.h +++ b/roboteam_ai/include/roboteam_ai/stp/tactics/active/GetBehindBallInDirection.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 06-04-20. -// - #ifndef RTT_GETBEHINDBALLINDIRECTION_H #define RTT_GETBEHINDBALLINDIRECTION_H diff --git a/roboteam_ai/include/roboteam_ai/stp/tactics/active/KickAtPos.h b/roboteam_ai/include/roboteam_ai/stp/tactics/active/KickAtPos.h index a7a6cbb75..20160fd38 100644 --- a/roboteam_ai/include/roboteam_ai/stp/tactics/active/KickAtPos.h +++ b/roboteam_ai/include/roboteam_ai/stp/tactics/active/KickAtPos.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 3/12/20. -// - #ifndef RTT_KICKATPOS_H #define RTT_KICKATPOS_H diff --git a/roboteam_ai/include/roboteam_ai/stp/tactics/active/OrbitKick.h b/roboteam_ai/include/roboteam_ai/stp/tactics/active/OrbitKick.h index 0e27816a0..03967abcc 100644 --- a/roboteam_ai/include/roboteam_ai/stp/tactics/active/OrbitKick.h +++ b/roboteam_ai/include/roboteam_ai/stp/tactics/active/OrbitKick.h @@ -1,7 +1,3 @@ -// -// Created by tijmen on 01-07-22. -// - #ifndef RTT_ORBITKICK_H #define RTT_ORBITKICK_H diff --git a/roboteam_ai/include/roboteam_ai/stp/tactics/active/Receive.h b/roboteam_ai/include/roboteam_ai/stp/tactics/active/Receive.h index d90ec3127..52fab6560 100644 --- a/roboteam_ai/include/roboteam_ai/stp/tactics/active/Receive.h +++ b/roboteam_ai/include/roboteam_ai/stp/tactics/active/Receive.h @@ -1,7 +1,3 @@ -// -// Created by jordi on 13-03-20. -// - #ifndef RTT_RECEIVE_H #define RTT_RECEIVE_H diff --git a/roboteam_ai/include/roboteam_ai/stp/tactics/passive/BallStandBack.h b/roboteam_ai/include/roboteam_ai/stp/tactics/passive/BallStandBack.h index 8d0daaa94..36f38e103 100644 --- a/roboteam_ai/include/roboteam_ai/stp/tactics/passive/BallStandBack.h +++ b/roboteam_ai/include/roboteam_ai/stp/tactics/passive/BallStandBack.h @@ -1,7 +1,3 @@ -// -// Created by agata on 29/06/2022. -// - #ifndef RTT_BALLSTANDBACK_H #define RTT_BALLSTANDBACK_H diff --git a/roboteam_ai/include/roboteam_ai/stp/tactics/passive/BlockBall.h b/roboteam_ai/include/roboteam_ai/stp/tactics/passive/BlockBall.h index fb0e9be9e..0ebf9c1ee 100644 --- a/roboteam_ai/include/roboteam_ai/stp/tactics/passive/BlockBall.h +++ b/roboteam_ai/include/roboteam_ai/stp/tactics/passive/BlockBall.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 5/12/20. -// - #ifndef RTT_BLOCKBALL_H #define RTT_BLOCKBALL_H diff --git a/roboteam_ai/include/roboteam_ai/stp/tactics/passive/Formation.h b/roboteam_ai/include/roboteam_ai/stp/tactics/passive/Formation.h index 01dbf4eeb..b25f7df79 100644 --- a/roboteam_ai/include/roboteam_ai/stp/tactics/passive/Formation.h +++ b/roboteam_ai/include/roboteam_ai/stp/tactics/passive/Formation.h @@ -1,7 +1,3 @@ -// -// Created by timovdk on 3/27/20. -// - #ifndef RTT_FORMATION_TACTIC_H #define RTT_FORMATION_TACTIC_H diff --git a/roboteam_ai/include/roboteam_ai/stp/tactics/passive/Halt.h b/roboteam_ai/include/roboteam_ai/stp/tactics/passive/Halt.h index d8493e57a..51d333987 100644 --- a/roboteam_ai/include/roboteam_ai/stp/tactics/passive/Halt.h +++ b/roboteam_ai/include/roboteam_ai/stp/tactics/passive/Halt.h @@ -1,7 +1,3 @@ -// -// Created by jessevw on 24.03.20. -// - #ifndef RTT_HALT_TACTIC_H #define RTT_HALT_TACTIC_H diff --git a/roboteam_ai/include/roboteam_ai/utilities/Constants.h b/roboteam_ai/include/roboteam_ai/utilities/Constants.h index b030c28a9..281310df2 100644 --- a/roboteam_ai/include/roboteam_ai/utilities/Constants.h +++ b/roboteam_ai/include/roboteam_ai/utilities/Constants.h @@ -1,4 +1,3 @@ - #ifndef ROBOTEAM_AI_CONSTANTS_H #define ROBOTEAM_AI_CONSTANTS_H diff --git a/roboteam_ai/include/roboteam_ai/utilities/RefCommand.h b/roboteam_ai/include/roboteam_ai/utilities/RefCommand.h index b2841e411..1f95a188a 100644 --- a/roboteam_ai/include/roboteam_ai/utilities/RefCommand.h +++ b/roboteam_ai/include/roboteam_ai/utilities/RefCommand.h @@ -1,7 +1,3 @@ -// -// Created by Martin Miksik on 05/05/2023. -// - #ifndef RTT_REFCOMMAND_H #define RTT_REFCOMMAND_H diff --git a/roboteam_ai/include/roboteam_ai/utilities/RuntimeConfig.h b/roboteam_ai/include/roboteam_ai/utilities/RuntimeConfig.h index 4da813911..1de3097ab 100644 --- a/roboteam_ai/include/roboteam_ai/utilities/RuntimeConfig.h +++ b/roboteam_ai/include/roboteam_ai/utilities/RuntimeConfig.h @@ -1,7 +1,3 @@ -// -// Created by Martin Miksik on 04/05/2023. -// - #ifndef RTT_RUNTIMECONFIG_H #define RTT_RUNTIMECONFIG_H diff --git a/roboteam_ai/include/roboteam_ai/utilities/StpInfoEnums.h b/roboteam_ai/include/roboteam_ai/utilities/StpInfoEnums.h index 338693e75..2b09070a0 100644 --- a/roboteam_ai/include/roboteam_ai/utilities/StpInfoEnums.h +++ b/roboteam_ai/include/roboteam_ai/utilities/StpInfoEnums.h @@ -1,7 +1,3 @@ -// -// Created by alexander on 03-12-21. -// - #ifndef RTT_STPINFOENUMS_H #define RTT_STPINFOENUMS_H diff --git a/roboteam_ai/include/roboteam_ai/utilities/StrategyManager.h b/roboteam_ai/include/roboteam_ai/utilities/StrategyManager.h index 91552c5c0..1cce98a14 100644 --- a/roboteam_ai/include/roboteam_ai/utilities/StrategyManager.h +++ b/roboteam_ai/include/roboteam_ai/utilities/StrategyManager.h @@ -1,7 +1,3 @@ -/* - * Created by mrlukasbos on 9-11-18. - */ - #ifndef ROBOTEAM_AI_STRATEGYMANAGER_H #define ROBOTEAM_AI_STRATEGYMANAGER_H diff --git a/roboteam_ai/include/roboteam_ai/world/Ball.hpp b/roboteam_ai/include/roboteam_ai/world/Ball.hpp index 6c980e859..73a97e6f7 100644 --- a/roboteam_ai/include/roboteam_ai/world/Ball.hpp +++ b/roboteam_ai/include/roboteam_ai/world/Ball.hpp @@ -1,7 +1,3 @@ -// -// Created by john on 12/18/19. -// - #ifndef RTT_BALL_HPP #define RTT_BALL_HPP @@ -33,9 +29,8 @@ class Ball { /** * @brief Updates the expected ball end position - * @param data The current world */ - void updateExpectedBallEndPosition(const world::World *data) noexcept; + void updateExpectedBallEndPosition() noexcept; /** * @brief Places the ball in front of the robot that has the ball, if any diff --git a/roboteam_ai/include/roboteam_ai/world/BallPossession.h b/roboteam_ai/include/roboteam_ai/world/BallPossession.h index 2b0ead613..f2e395fad 100644 --- a/roboteam_ai/include/roboteam_ai/world/BallPossession.h +++ b/roboteam_ai/include/roboteam_ai/world/BallPossession.h @@ -11,9 +11,6 @@ namespace rtt::ai { /** * Computes and stores the ball possession state which indicates which team controls the ball (can also be both/no team). - * @author Created by: Rolf van der Hulst
- * Documented by: Haico Dorenbos - * @since 2019-04-15 */ class BallPossession { private: diff --git a/roboteam_ai/include/roboteam_ai/world/FieldComputations.h b/roboteam_ai/include/roboteam_ai/world/FieldComputations.h index 1387d7108..66efc2eb6 100644 --- a/roboteam_ai/include/roboteam_ai/world/FieldComputations.h +++ b/roboteam_ai/include/roboteam_ai/world/FieldComputations.h @@ -22,9 +22,6 @@ namespace rtt::ai { /** * The Field Computation class does all kind of computations on the Field based on the Field class variables. - * @author Created by: Lukas Bos
- * Documented and refactored by: Haico Dorenbos - * @since 2019-08-30 */ class FieldComputations { private: diff --git a/roboteam_ai/include/roboteam_ai/world/Robot.hpp b/roboteam_ai/include/roboteam_ai/world/Robot.hpp index 556c299c3..5a4730f9a 100644 --- a/roboteam_ai/include/roboteam_ai/world/Robot.hpp +++ b/roboteam_ai/include/roboteam_ai/world/Robot.hpp @@ -1,7 +1,3 @@ -// -// Created by john on 12/16/19. -// - #ifndef RTT_ROBOT_HPP #define RTT_ROBOT_HPP diff --git a/roboteam_ai/include/roboteam_ai/world/Team.hpp b/roboteam_ai/include/roboteam_ai/world/Team.hpp index 6a6cffe73..c149252e5 100644 --- a/roboteam_ai/include/roboteam_ai/world/Team.hpp +++ b/roboteam_ai/include/roboteam_ai/world/Team.hpp @@ -1,7 +1,3 @@ -// -// Created by john on 12/17/19. -// - #ifndef RTT_TEAM_HPP #define RTT_TEAM_HPP diff --git a/roboteam_ai/include/roboteam_ai/world/World.hpp b/roboteam_ai/include/roboteam_ai/world/World.hpp index 8e06043b6..805ccda80 100644 --- a/roboteam_ai/include/roboteam_ai/world/World.hpp +++ b/roboteam_ai/include/roboteam_ai/world/World.hpp @@ -1,7 +1,3 @@ -// -// Created by john on 12/16/19. -// - #ifndef RTT_WORLD_HPP #define RTT_WORLD_HPP #include diff --git a/roboteam_ai/include/roboteam_ai/world/WorldData.hpp b/roboteam_ai/include/roboteam_ai/world/WorldData.hpp index d449b746d..e7a00ea3d 100644 --- a/roboteam_ai/include/roboteam_ai/world/WorldData.hpp +++ b/roboteam_ai/include/roboteam_ai/world/WorldData.hpp @@ -1,7 +1,3 @@ -// -// Created by john on 12/16/19. -// - #ifndef RTT_WORLD_DATA_HPP #define RTT_WORLD_DATA_HPP diff --git a/roboteam_ai/include/roboteam_ai/world/views/BallView.hpp b/roboteam_ai/include/roboteam_ai/world/views/BallView.hpp index fc76646c9..1af373cbf 100644 --- a/roboteam_ai/include/roboteam_ai/world/views/BallView.hpp +++ b/roboteam_ai/include/roboteam_ai/world/views/BallView.hpp @@ -1,7 +1,3 @@ -// -// Created by john on 1/13/20. -// - #ifndef RTT_BALL_VIEW_HPP #define RTT_BALL_VIEW_HPP diff --git a/roboteam_ai/include/roboteam_ai/world/views/RobotView.hpp b/roboteam_ai/include/roboteam_ai/world/views/RobotView.hpp index 32d63092c..e179f9c66 100644 --- a/roboteam_ai/include/roboteam_ai/world/views/RobotView.hpp +++ b/roboteam_ai/include/roboteam_ai/world/views/RobotView.hpp @@ -1,7 +1,3 @@ -// -// Created by john on 1/14/20. -// - #ifndef RTT_ROBOT_VIEW_HPP #define RTT_ROBOT_VIEW_HPP diff --git a/roboteam_ai/include/roboteam_ai/world/views/WorldDataView.hpp b/roboteam_ai/include/roboteam_ai/world/views/WorldDataView.hpp index 9eb282421..40583defa 100644 --- a/roboteam_ai/include/roboteam_ai/world/views/WorldDataView.hpp +++ b/roboteam_ai/include/roboteam_ai/world/views/WorldDataView.hpp @@ -1,7 +1,3 @@ -// -// Created by john on 1/6/20. -// - #ifndef RTT_WORLD_DATA_VIEW_HPP #define RTT_WORLD_DATA_VIEW_HPP diff --git a/roboteam_ai/src/CMakeLists.txt b/roboteam_ai/src/CMakeLists.txt deleted file mode 100644 index a84d4d259..000000000 --- a/roboteam_ai/src/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -add_subdirectory(NFParam) \ No newline at end of file diff --git a/roboteam_ai/src/NFParam/CMakeLists.txt b/roboteam_ai/src/NFParam/CMakeLists.txt deleted file mode 100644 index a393d852e..000000000 --- a/roboteam_ai/src/NFParam/CMakeLists.txt +++ /dev/null @@ -1,13 +0,0 @@ -add_library(NFParam - SHARED - include/NFParam/Param.h - include/NFParam/ParamEvent.h - ParamEvent.cpp - WAAParamEvents.h - WAAParamEvents.cpp - ParamImplementation.h - ParamImplementation.cpp) -target_include_directories( - NFParam - PUBLIC - include) diff --git a/roboteam_ai/src/NFParam/ParamEvent.cpp b/roboteam_ai/src/NFParam/ParamEvent.cpp deleted file mode 100644 index f4c44ea29..000000000 --- a/roboteam_ai/src/NFParam/ParamEvent.cpp +++ /dev/null @@ -1,13 +0,0 @@ -#include - -namespace nativeformat { -namespace param { - -ParamEvent::ParamEvent(double start_time, double end_time, Anchor anchor) : start_time(start_time), end_time(end_time), start_value(0), anchor(anchor) {} - -ParamEvent::~ParamEvent() {} - -float ParamEvent::endValue() { return valueAtTime(end_time); } - -} // namespace param -} // namespace nativeformat diff --git a/roboteam_ai/src/NFParam/ParamImplementation.cpp b/roboteam_ai/src/NFParam/ParamImplementation.cpp deleted file mode 100644 index 5840d986e..000000000 --- a/roboteam_ai/src/NFParam/ParamImplementation.cpp +++ /dev/null @@ -1,181 +0,0 @@ -/* - * Copyright (c) 2016 Spotify AB. - * - * Licensed to the Apache Software Foundation (ASF) under one - * or more contributor license agreements. See the NOTICE file - * distributed with this work for additional information - * regarding copyright ownership. The ASF licenses this file - * to you under the Apache License, Version 2.0 (the - * "License"); you may not use this file except in compliance - * with the License. You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, - * software distributed under the License is distributed on an - * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY - * KIND, either express or implied. See the License for the - * specific language governing permissions and limitations - * under the License. - * - * Adapted by RoboTeam Twente - */ -#include "ParamImplementation.h" - -#include -#include -#include - -namespace nativeformat { -namespace param { - -ParamImplementation::ParamImplementation(float default_value, float max_value, float min_value, const std::string &name) - : _default_value(default_value), _max_value(max_value), _min_value(min_value), _name(name) { - _events.push_back(createEvent(default_value)); -} - -ParamImplementation::~ParamImplementation() {} - -float ParamImplementation::yForX(double x) { - std::lock_guard events_mutex(_events_mutex); - auto current_iterator = iteratorForTime(x); - - if (current_iterator == _events.end()) { - return defaultY(); - } - return std::min(std::max((*current_iterator)->valueAtTime(x), minY()), maxY()); -} - -std::string ParamImplementation::name() { return _name; } - -float ParamImplementation::defaultY() const { return _default_value; } - -float ParamImplementation::maxY() const { return _max_value; } - -float ParamImplementation::minY() const { return _min_value; } - -void ParamImplementation::setYAtX(float y, double x) { - std::lock_guard events_mutex(_events_mutex); - auto prev_it = prevEvent(x); - auto event = createEvent(y, x); - addEvent(std::move(event), prev_it); -} - -void ParamImplementation::linearRampToYAtX(float end_y, double end_x) { - { - std::lock_guard events_mutex(_events_mutex); - auto prev_it = prevEvent(end_x); - auto event = createEvent(end_y, end_x); - addEvent(std::move(event), prev_it); - } - - // implicit setYAtX to maintain the end_value - setYAtX(end_y, end_x); -} - -std::list>::iterator ParamImplementation::iteratorForTime(double time) { - if (time < 0.0) { - return _events.end(); - } - for (auto it = _events.begin(); it != _events.end(); it++) { - EVENT_PTR &event = *it; - if ((event->end_time > time || event->end_time == ParamEvent::INVALID_TIME) && event->start_time <= time) { - return it; - } - } - return _events.end(); -} - -std::list>::iterator ParamImplementation::prevEvent(double time) { - auto prev_it = _events.end(); - double prev_time = 0.0; - for (auto it = _events.begin(); it != _events.end(); it++) { - double t = ((*it)->anchor & Anchor::END) == Anchor::END ? (*it)->end_time : (*it)->start_time; - if (t >= prev_time && t <= time) { - prev_time = t; - prev_it = it; - } - } - return prev_it; -} - -bool ParamImplementation::getRequiredTimeRange(const EVENT_PTR &event, double &start, double &end) { - if (event->anchor == Anchor::NONE) { - return false; - } - start = ((event->anchor & Anchor::START) == Anchor::START) ? event->start_time : event->end_time; - end = ((event->anchor & Anchor::END) == Anchor::END) ? event->end_time : event->start_time; - return true; -} - -void ParamImplementation::checkOverlap(const EVENT_PTR &event) { - double s1, e1, s2, e2; - if (!getRequiredTimeRange(event, s1, e1)) { - return; - } - for (const auto &e : _events) { - if (getRequiredTimeRange(e, s2, e2)) { - if (s1 < e2 && s2 < e1) { - std::stringstream msg; - msg << "New event with required time range " << s1 << " - " << e1 << " conflicts with existing event with required time range " << s2 << " - " << e2; - throw std::invalid_argument(msg.str()); - } - } - } -} - -void ParamImplementation::updateTimes(EVENT_PTR &prev, EVENT_PTR &event) { - Anchor prev_anchor = prev->anchor; - if ((event->anchor & Anchor::START) == Anchor::NONE) { - // If event does not have a fixed start, get it from previous event - double prev_anchor_time; - if ((prev_anchor & Anchor::END) == Anchor::END) { - prev_anchor_time = prev->end_time; - } else { - // New event has no fixed start and previous event has no fixed end - // set duration of previous event to 0 and steal its end value - prev_anchor_time = prev->start_time; - prev->end_time = prev_anchor_time; - event->start_value = prev->endValue(); - } - event->start_time = prev_anchor_time; - } else { - // If event does have a fixed start, give it to previous event - if ((prev_anchor & Anchor::END) == Anchor::NONE) { - prev->end_time = event->start_time; - } - } -} - -void ParamImplementation::addEvent(EVENT_PTR new_event, std::list::iterator prev_event) { - checkOverlap(new_event); - - auto next_event = prev_event; - if (prev_event != _events.end()) { - updateTimes(*prev_event, new_event); - ++next_event; - if (next_event != _events.end()) { - updateTimes(new_event, *next_event); - } - } - invalidateCachedCumulativeValuesAfterTime(new_event->start_time); - _events.insert(next_event, std::move(new_event)); -} - -void ParamImplementation::invalidateCachedCumulativeValuesAfterTime(double time) { - for (auto &precision_map_pair : _cumulative_values_cache) { - auto &precision_map = precision_map_pair.second; - for (auto &map_pair : precision_map) { - if (map_pair.first >= time) { - precision_map.erase(map_pair.first); - } - } - } -} - -std::unique_ptr createParam(float default_y, float max_y, float min_y, const std::string &name) { - return std::make_unique(default_y, max_y, min_y, name); -} - -} // namespace param -} // namespace nativeformat diff --git a/roboteam_ai/src/NFParam/ParamImplementation.h b/roboteam_ai/src/NFParam/ParamImplementation.h deleted file mode 100644 index 28bcd45c2..000000000 --- a/roboteam_ai/src/NFParam/ParamImplementation.h +++ /dev/null @@ -1,91 +0,0 @@ -/* - * Copyright (c) 2016 Spotify AB. - * - * Licensed to the Apache Software Foundation (ASF) under one - * or more contributor license agreements. See the NOTICE file - * distributed with this work for additional information - * regarding copyright ownership. The ASF licenses this file - * to you under the Apache License, Version 2.0 (the - * "License"); you may not use this file except in compliance - * with the License. You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, - * software distributed under the License is distributed on an - * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY - * KIND, either express or implied. See the License for the - * specific language governing permissions and limitations - * under the License. - * - * Adapted by RoboTeam Twente - */ -#pragma once - -#include - -#include -#include -#include -#include - -#include "WAAParamEvents.h" - -namespace nativeformat { -namespace param { - -class ParamImplementation : public Param { - typedef std::unique_ptr EVENT_PTR; - - public: - ParamImplementation(float default_value, float max_value, float min_value, const std::string &name); - virtual ~ParamImplementation(); - - float yForX(double x) override; - - std::string name() override; - - // WAAParam - float defaultY() const override; - float maxY() const override; - float minY() const override; - void setYAtX(float y, double x) override; - void linearRampToYAtX(float end_y, double end_x) override; - - private: - const float _default_value; - const float _max_value; - const float _min_value; - const std::string _name; - std::list _events; - std::mutex _events_mutex; - std::vector _smoothed_samples_buffer; - std::map> _cumulative_values_cache; - - // Find the event (if any) that governs the param curve at the given time - std::list>::iterator iteratorForTime(double time); - - // Find the last event (if any) whose anchor time is <= time - std::list>::iterator prevEvent(double time); - - // Populate start and end with the required start and end of an event. - // If the event's anchor is NONE, getRequiredTimeRange will return false. - // If the event's anchor is START or END, start = end. - // If the event's anchor is ALL, end >= start. - bool getRequiredTimeRange(const EVENT_PTR &event, double &start, double &end); - - // Throw an exception if an event overlaps with any existing events - void checkOverlap(const EVENT_PTR &event); - - // Update events' start and end times according to their anchor. - // Assumes prev's required time range ends before event's. - void updateTimes(EVENT_PTR &prev, EVENT_PTR &event); - - // Update adjacent events on insertion of a new event - void addEvent(EVENT_PTR new_event, std::list::iterator prev_event); - - void invalidateCachedCumulativeValuesAfterTime(double time); -}; - -} // namespace param -} // namespace nativeformat diff --git a/roboteam_ai/src/NFParam/README.md b/roboteam_ai/src/NFParam/README.md deleted file mode 100644 index ccfb7866f..000000000 --- a/roboteam_ai/src/NFParam/README.md +++ /dev/null @@ -1,137 +0,0 @@ -A C++ library for defining and evaluating piecewise functions, inspired by the Web Audio API [AudioParam](https://webaudio.github.io/web-audio-api/#AudioParam) interface. - -## Platform support -`NFParam` should compile and run on any platform with a C++11 compiler, but the following are tested in CI. - -- [x] 📱 iOS 9.0+ -- [x] 💻 OS X 10.11+ -- [x] 🐧 Ubuntu Trusty 14.04+ (clang 3.9 or gcc 4.9) - -## Raison D'être :thought_balloon: -When designing a cross platform player that could be used for complex mixing and effects, we required a library that worked in the same way that the Web Audio API [AudioParam](https://webaudio.github.io/web-audio-api/#AudioParam) worked but on none web based platforms. This led to the creation of this library, which is not only able to emulate the [AudioParam](https://webaudio.github.io/web-audio-api/#AudioParam) library but can also handle seeks into the centre of a function being evaluated due to its architecture not being a state machine. In addition to supporting everything [AudioParam](https://webaudio.github.io/web-audio-api/#AudioParam) supports, we have also added in some extra goodies such as `smoothedYForXRange` and `cumulativeYForXRange`. - -## Architecture :triangular_ruler: -`NFParam` is designed as a C++11 interface to define a control curve and interact with it in real time. The API allows you to create a parameter and then begin to add control curves to execute at specific times. The library is thread safe and can be written or read from any thread. The system works by having a list of events, doing a binary search on that list to find the correct function to execute, then executing that function on the current time being requested. - -## Installation -CMake 3.5 or later is required to generate the build. -```shell -brew install cmake -``` -or -```shell -sudo apt-get install cmake -``` - -`NFParam` is a [CMake](https://cmake.org/) project, so to use it within a larger CMake project, simply add the following line to your `CMakeLists.txt` file: -``` -add_subdirectory(NFParam) -``` -Alternatively, you can compile NFParam as a standalone library. -The [ci build scripts](./ci) can be used to install all necessary dependencies, build the library, and run unit tests. - -### For Linux -```shell -sh ci/linux.sh build -``` - -### For iOS/OSX -```shell -sh ci/osx.sh build -``` - -## Examples - -### Create the "Audio Param Example" curve pictured below - -#### Create the `Param` -Specify the default value, min, max, and a name. -Until events are added, its value will be the default value for all times. -``` -auto p = nativeformat::param::createParam(0, 1, -1, "testParam"); -``` - -#### Add some events -The `setYAtX` command behaves as a step function. -The value specified will be maintained until the next event anchor. -``` -p->setYAtX(0.2f, 0.0); -p->setYAtX(0.3f, 0.1); -p->setYAtX(0.4f, 0.2); -``` - -The linearRampToYAtX event computes the slope necessary to -reach the target value from the previous anchor point by the specified time. -``` -p->linearRampToYAtX(1.0f, 0.3); -p->linearRampToYAtX(0.8f, 0.325); -``` - -The setTargetYAtX command will expoenentially approach the target value -from the previous anchor with a rate specified by the time constant. -It does not have a fixed end time. -``` -p->setTargetYAtX(0.5f, 0.325, time_constant); -p->setYAtX(0.552f, 0.5); -``` - -The `exponentialRampToYAtX` event computes the constant necessary to -reach the target value from the previous anchor point by the specified time. -``` -p->exponentialRampToYAtX(0.75f, 0.6); -p->exponentialRampToYAtX(0.05f, 0.7); -``` - -The `setYCurveAtX` event linearly interpolates between the points provided on the user-defined curve. -It cannot overlap with any other command anchors. -``` -size_t curve_len = 44100; -std::vector curve(curve_len); -for (int i = 0; i < curve_len; ++i) { - curve[i] = std::sin((3.14159265 * i) / curve_len); -} -p->setYCurveAtX(curve, 0.7, 0.3); -``` -#### Retrieve some values from the `Param` -Finally, let's sample some values from the param we have defined! -``` -size_t points = 1001; -std::vector x(points), y(points); -p->yValuesForXRange(y.data(), points, 0.0, 1.0); - -double ts = 1.0 / (points - 1); -double t = 0; -for (int i = 0; i < x.size(); ++i) { - x[i] = t; - t += ts; -} -``` - -## Tests -[`NFParamTests.cpp`](source/test/NFParamTests.cpp) contains a number of test cases, -two of which generate TSV output files that should match the -[AudioParam automation example](https://webaudio.github.io/web-audio-api/#example1-AudioParam) -from the WAA spec. In the `resources` directory, there is a [script](resources/plot.sh) that will plot the unit test output data -if you have [gnuplot](http://gnuplot.info/) installed. The path where `paramAutomation.txt` is generated when the tests are run by the -ci scripts varies by platform. - -### Generating a plot -``` -sh plot.sh ../build/source/test/Debug/paramAutomation.txt out.png -``` -![](resources/paramAutomationExpected.png?raw=true) - -## Contributing :mailbox_with_mail: -Contributions are welcomed, have a look at the [CONTRIBUTING.md](CONTRIBUTING.md) document for more information. - -## License :memo: -The project is available under the [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0) license. - -### Acknowledgements -- Icon in readme banner is “[Settings](https://thenounproject.com/search/?q=parameter&i=1477820)” by Bharat from the Noun Project. - -#### Contributors -* [Julia Cox](https://github.com/astrocox) -* [Justin Sarma](https://github.com/jsarma) -* [David Rubinstein](https://github.com/drubinstein) -* [Will Sackfield](https://github.com/8W9aG) diff --git a/roboteam_ai/src/NFParam/WAAParamEvents.cpp b/roboteam_ai/src/NFParam/WAAParamEvents.cpp deleted file mode 100644 index 170b617e1..000000000 --- a/roboteam_ai/src/NFParam/WAAParamEvents.cpp +++ /dev/null @@ -1,58 +0,0 @@ -/* - * Copyright (c) 2018 Spotify AB. - * - * Licensed to the Apache Software Foundation (ASF) under one - * or more contributor license agreements. See the NOTICE file - * distributed with this work for additional information - * regarding copyright ownership. The ASF licenses this file - * to you under the Apache License, Version 2.0 (the - * "License"); you may not use this file except in compliance - * with the License. You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, - * software distributed under the License is distributed on an - * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY - * KIND, either express or implied. See the License for the - * specific language governing permissions and limitations - * under the License. - * - * Adapted by RoboTeam Twente - */ - -#include "WAAParamEvents.h" - -#include - -namespace nativeformat { -namespace param { - -ValueAtTimeEvent::ValueAtTimeEvent(float value, double time) : ParamEvent(time, ParamEvent::INVALID_TIME, Anchor::START) { ParamEvent::start_value = value; } - -ValueAtTimeEvent::~ValueAtTimeEvent() {} - -float ValueAtTimeEvent::valueAtTime(double time) { return start_value; } - -LinearRampEvent::LinearRampEvent(float value, double time) : ParamEvent(0.0, time, Anchor::END), target(value) {} -LinearRampEvent::~LinearRampEvent() {} - -float LinearRampEvent::valueAtTime(double time) { - if (time < start_time || start_time == end_time) { - return start_value; - } - if (time > end_time) { - return target; - } - double c = (time - start_time) / (end_time - start_time); - return start_value + (target - start_value) * c; -} - -DummyEvent::DummyEvent(float value) : ParamEvent(0.0, ParamEvent::INVALID_TIME, Anchor::NONE) { ParamEvent::start_value = value; } - -DummyEvent::~DummyEvent() {} - -float DummyEvent::valueAtTime(double time) { return start_value; } - -} // namespace param -} // namespace nativeformat diff --git a/roboteam_ai/src/NFParam/WAAParamEvents.h b/roboteam_ai/src/NFParam/WAAParamEvents.h deleted file mode 100644 index 9a1a1aecc..000000000 --- a/roboteam_ai/src/NFParam/WAAParamEvents.h +++ /dev/null @@ -1,62 +0,0 @@ -/* - * Copyright (c) 2018 Spotify AB. - * - * Licensed to the Apache Software Foundation (ASF) under one - * or more contributor license agreements. See the NOTICE file - * distributed with this work for additional information - * regarding copyright ownership. The ASF licenses this file - * to you under the Apache License, Version 2.0 (the - * "License"); you may not use this file except in compliance - * with the License. You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, - * software distributed under the License is distributed on an - * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY - * KIND, either express or implied. See the License for the - * specific language governing permissions and limitations - * under the License. - * - * Adapted by Timo van der Kuil, RoboTeam Twente - */ -#pragma once - -#include - -#include -#include - -namespace nativeformat { -namespace param { - -struct ValueAtTimeEvent : ParamEvent { - ValueAtTimeEvent(float value, double time); - virtual ~ValueAtTimeEvent(); - - float valueAtTime(double time) override; -}; - -struct LinearRampEvent : ParamEvent { - const float target; - - LinearRampEvent(float value, double time); - virtual ~LinearRampEvent(); - - float valueAtTime(double time) override; -}; - -struct DummyEvent : ParamEvent { - DummyEvent(float value); - virtual ~DummyEvent(); - - float valueAtTime(double time) override; -}; - -template -std::unique_ptr createEvent(Args... args) { - return std::unique_ptr(new EventClass(args...)); -} - -} // namespace param -} // namespace nativeformat diff --git a/roboteam_ai/src/NFParam/include/NFParam/Param.h b/roboteam_ai/src/NFParam/include/NFParam/Param.h deleted file mode 100644 index 959571925..000000000 --- a/roboteam_ai/src/NFParam/include/NFParam/Param.h +++ /dev/null @@ -1,48 +0,0 @@ -/* - * Copyright (c) 2017 Spotify AB. - * - * Licensed to the Apache Software Foundation (ASF) under one - * or more contributor license agreements. See the NOTICE file - * distributed with this work for additional information - * regarding copyright ownership. The ASF licenses this file - * to you under the Apache License, Version 2.0 (the - * "License"); you may not use this file except in compliance - * with the License. You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, - * software distributed under the License is distributed on an - * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY - * KIND, either express or implied. See the License for the - * specific language governing permissions and limitations - * under the License. - * - * Adapted by RoboTeam Twente - */ -#pragma once - -#include - -#include -#include - -namespace nativeformat::param { - -class Param { - public: - virtual float defaultY() const = 0; - virtual float maxY() const = 0; - virtual float minY() const = 0; - virtual void setYAtX(float y, double x) = 0; - virtual void linearRampToYAtX(float end_y, double end_x) = 0; - - virtual float yForX(double x) = 0; - virtual std::string name() = 0; - - virtual ~Param() = default; -}; - -std::unique_ptr createParam(float default_y, float max_y, float min_y, const std::string &name); - -} // namespace nativeformat::param \ No newline at end of file diff --git a/roboteam_ai/src/NFParam/include/NFParam/ParamEvent.h b/roboteam_ai/src/NFParam/include/NFParam/ParamEvent.h deleted file mode 100644 index 0a7a0d01b..000000000 --- a/roboteam_ai/src/NFParam/include/NFParam/ParamEvent.h +++ /dev/null @@ -1,60 +0,0 @@ -/* - * Copyright (c) 2018 Spotify AB. - * - * Licensed to the Apache Software Foundation (ASF) under one - * or more contributor license agreements. See the NOTICE file - * distributed with this work for additional information - * regarding copyright ownership. The ASF licenses this file - * to you under the Apache License, Version 2.0 (the - * "License"); you may not use this file except in compliance - * with the License. You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, - * software distributed under the License is distributed on an - * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY - * KIND, either express or implied. See the License for the - * specific language governing permissions and limitations - * under the License. - * - * Adapted by RoboTeam Twente - */ -#pragma once - -#include -#include - -namespace nativeformat { -namespace param { - -/* The ParamEvent Anchor determines whether a ParamEvent is - * tied to the start time and value, end time and value, or - * the full Range. This determines how the start and end - * values and times will change (or remain fixed) when other - * ParaEvents are added. - */ -enum class Anchor { NONE = 0x0, START = 0x1, END = 0x2 }; -inline Anchor operator&(Anchor a, Anchor b) { - using T = std::underlying_type::type; - return static_cast(static_cast(a) & static_cast(b)); -} - -struct ParamEvent { - double start_time; - double end_time; - double start_value; - - const Anchor anchor; - - ParamEvent(double start_time, double end_time, Anchor anchor); - virtual ~ParamEvent(); - - virtual float valueAtTime(double time) = 0; - virtual float endValue(); - - static constexpr double INVALID_TIME = -1.0; -}; - -} // namespace param -} // namespace nativeformat diff --git a/roboteam_ai/src/NFParam/resources/paramAutomationExpected.png b/roboteam_ai/src/NFParam/resources/paramAutomationExpected.png deleted file mode 100644 index 073ea4ffd..000000000 Binary files a/roboteam_ai/src/NFParam/resources/paramAutomationExpected.png and /dev/null 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+0,0 @@ -set term png -set title "Param values" -set output output -set xlabel "Time (s)" -set ylabel "Value" -set xtics 0, 0.1, 1 -set ytics 0, 0.1, 1 -set grid ytics lt 0 lw 1 lc rgb "#bbbbbb" -set grid xtics lt 0 lw 1 lc rgb "#bbbbbb" -plot filename title "" with lines lt 1 lw 2 diff --git a/roboteam_ai/src/NFParam/resources/plot.sh b/roboteam_ai/src/NFParam/resources/plot.sh deleted file mode 100644 index 3a1356ccc..000000000 --- a/roboteam_ai/src/NFParam/resources/plot.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/bin/bash - -if [ $# -lt 2 ] -then - echo "Usage: sh plot.sh " - exit 0 -fi - -input=$1 -output=$2 -gpfile=$(find . | grep "params.gp") - -echo Using gnuplot script $gpfile with input data = $input and output image = $output -gnuplot -e "filename='$input';output='$output'" $gpfile - - diff --git a/roboteam_ai/src/control/AnglePID.cpp b/roboteam_ai/src/control/AnglePID.cpp index 39e458aea..beaa6c9e3 100644 --- a/roboteam_ai/src/control/AnglePID.cpp +++ b/roboteam_ai/src/control/AnglePID.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 01-06-21. -// - #include "control/AnglePID.h" #include diff --git a/roboteam_ai/src/control/ControlModule.cpp b/roboteam_ai/src/control/ControlModule.cpp index 1b82b8367..db90a8b2d 100644 --- a/roboteam_ai/src/control/ControlModule.cpp +++ b/roboteam_ai/src/control/ControlModule.cpp @@ -1,7 +1,3 @@ -// -// Created by jaro on 15-10-20. -// - #include "control/ControlModule.h" #include "control/ControlUtils.h" diff --git a/roboteam_ai/src/control/ControlUtils.cpp b/roboteam_ai/src/control/ControlUtils.cpp index 7c7a85664..5fccf8705 100644 --- a/roboteam_ai/src/control/ControlUtils.cpp +++ b/roboteam_ai/src/control/ControlUtils.cpp @@ -1,7 +1,3 @@ -// -// Created by baris on 16/11/18. -// - #include "control/ControlUtils.h" #include diff --git a/roboteam_ai/src/control/positionControl/BBTrajectories/BBTrajectory1D.cpp b/roboteam_ai/src/control/positionControl/BBTrajectories/BBTrajectory1D.cpp index 41bccee0d..0801855c7 100644 --- a/roboteam_ai/src/control/positionControl/BBTrajectories/BBTrajectory1D.cpp +++ b/roboteam_ai/src/control/positionControl/BBTrajectories/BBTrajectory1D.cpp @@ -1,6 +1,3 @@ -// -// Created by rolf on 26-09-20. -// #include "control/positionControl/BBTrajectories/BBTrajectory1D.h" #include diff --git a/roboteam_ai/src/control/positionControl/BBTrajectories/BBTrajectory2D.cpp b/roboteam_ai/src/control/positionControl/BBTrajectories/BBTrajectory2D.cpp index 80fadb6fd..71625f20e 100644 --- a/roboteam_ai/src/control/positionControl/BBTrajectories/BBTrajectory2D.cpp +++ b/roboteam_ai/src/control/positionControl/BBTrajectories/BBTrajectory2D.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 26-09-20. -// - #include "control/positionControl/BBTrajectories/BBTrajectory2D.h" #include diff --git a/roboteam_ai/src/control/positionControl/BBTrajectories/Trajectory1D.cpp b/roboteam_ai/src/control/positionControl/BBTrajectories/Trajectory1D.cpp index 72324159e..63abc1c66 100644 --- a/roboteam_ai/src/control/positionControl/BBTrajectories/Trajectory1D.cpp +++ b/roboteam_ai/src/control/positionControl/BBTrajectories/Trajectory1D.cpp @@ -1,7 +1,3 @@ -// -// Created by tijmen on 16-12-21. -// - #include "control/positionControl/BBTrajectories/Trajectory1D.h" #include diff --git a/roboteam_ai/src/control/positionControl/BBTrajectories/Trajectory2D.cpp b/roboteam_ai/src/control/positionControl/BBTrajectories/Trajectory2D.cpp index 950e1c673..046efc8a5 100644 --- a/roboteam_ai/src/control/positionControl/BBTrajectories/Trajectory2D.cpp +++ b/roboteam_ai/src/control/positionControl/BBTrajectories/Trajectory2D.cpp @@ -1,7 +1,3 @@ -// -// Created by tijmen on 16-12-21. -// - #include "control/positionControl/BBTrajectories/Trajectory2D.h" #include diff --git a/roboteam_ai/src/control/positionControl/BBTrajectories/WorldObjects.cpp b/roboteam_ai/src/control/positionControl/BBTrajectories/WorldObjects.cpp index e5ef42f76..5289ff979 100644 --- a/roboteam_ai/src/control/positionControl/BBTrajectories/WorldObjects.cpp +++ b/roboteam_ai/src/control/positionControl/BBTrajectories/WorldObjects.cpp @@ -1,6 +1,3 @@ -// -// Created by floris on 15-11-20. -// #include "control/positionControl/BBTrajectories/WorldObjects.h" #include diff --git a/roboteam_ai/src/control/positionControl/CollisionDetector.cpp b/roboteam_ai/src/control/positionControl/CollisionDetector.cpp index 39e25f860..190d339c4 100644 --- a/roboteam_ai/src/control/positionControl/CollisionDetector.cpp +++ b/roboteam_ai/src/control/positionControl/CollisionDetector.cpp @@ -1,7 +1,3 @@ -// -// Created by ratoone on 10-12-19. -// - #include "control/positionControl/CollisionDetector.h" #include "control/ControlUtils.h" diff --git a/roboteam_ai/src/control/positionControl/PathPointNode.cpp b/roboteam_ai/src/control/positionControl/PathPointNode.cpp index 73263d191..06ddabcc9 100644 --- a/roboteam_ai/src/control/positionControl/PathPointNode.cpp +++ b/roboteam_ai/src/control/positionControl/PathPointNode.cpp @@ -1,7 +1,3 @@ -// -// Created by ratoone on 20-02-20. -// - #include "control/positionControl/PathPointNode.h" namespace rtt::ai::control { diff --git a/roboteam_ai/src/control/positionControl/PositionControl.cpp b/roboteam_ai/src/control/positionControl/PositionControl.cpp index 1389865f9..70b30f46f 100644 --- a/roboteam_ai/src/control/positionControl/PositionControl.cpp +++ b/roboteam_ai/src/control/positionControl/PositionControl.cpp @@ -1,7 +1,3 @@ -// -// Created by ratoone on 18-11-19. -// - #include "control/positionControl/PositionControl.h" #include "control/positionControl/BBTrajectories/BBTrajectory2D.h" @@ -42,12 +38,11 @@ void PositionControl::setRobotPositions(std::vector &robotPositions) { rtt::BB::CommandCollision PositionControl::computeAndTrackTrajectory(const rtt::world::World *world, const rtt::Field &field, int robotId, Vector2 currentPosition, Vector2 currentVelocity, Vector2 targetPosition, double maxRobotVelocity, stp::PIDType pidType, stp::AvoidObjects avoidObjects) { - double timeStep = 0.1; - std::optional firstCollision; rtt::BB::CommandCollision commandCollision = {}; if (shouldRecalculateTrajectory(world, field, robotId, targetPosition, currentPosition, avoidObjects)) { + double timeStep = 0.1; computedTrajectories[robotId] = Trajectory2D(currentPosition, currentVelocity, targetPosition, maxRobotVelocity, ai::Constants::MAX_ACC_UPPER()); completedTimeSteps[robotId] = 0; firstCollision = worldObjects.getFirstCollision(world, field, computedTrajectories[robotId], computedPaths, robotId, avoidObjects, completedTimeSteps); diff --git a/roboteam_ai/src/control/positionControl/PositionControlUtils.cpp b/roboteam_ai/src/control/positionControl/PositionControlUtils.cpp index 2db79365e..ef1cf46b2 100644 --- a/roboteam_ai/src/control/positionControl/PositionControlUtils.cpp +++ b/roboteam_ai/src/control/positionControl/PositionControlUtils.cpp @@ -1,7 +1,3 @@ -// -// Created by ratoone on 30-01-20. -// - #include "control/positionControl/PositionControlUtils.h" namespace rtt::ai::control { diff --git a/roboteam_ai/src/control/positionControl/pathPlanning/NumTreesPlanning.cpp b/roboteam_ai/src/control/positionControl/pathPlanning/NumTreesPlanning.cpp index b92aa9231..427e04f77 100644 --- a/roboteam_ai/src/control/positionControl/pathPlanning/NumTreesPlanning.cpp +++ b/roboteam_ai/src/control/positionControl/pathPlanning/NumTreesPlanning.cpp @@ -1,7 +1,3 @@ -// -// Created by ratoone on 20-02-20. -// - #include "control/positionControl/pathPlanning/NumTreesPlanning.h" namespace rtt::ai::control { diff --git a/roboteam_ai/src/control/positionControl/pathPlanning/PathPlanningAlgorithm.cpp b/roboteam_ai/src/control/positionControl/pathPlanning/PathPlanningAlgorithm.cpp index ea4e00be5..5b5b0f401 100644 --- a/roboteam_ai/src/control/positionControl/pathPlanning/PathPlanningAlgorithm.cpp +++ b/roboteam_ai/src/control/positionControl/pathPlanning/PathPlanningAlgorithm.cpp @@ -1,7 +1,3 @@ -// -// Created by ratoone on 09-03-20. -// - #include "control/positionControl/pathPlanning/PathPlanningAlgorithm.h" namespace rtt::ai::control { diff --git a/roboteam_ai/src/control/positionControl/pathTracking/BBTPathTracking.cpp b/roboteam_ai/src/control/positionControl/pathTracking/BBTPathTracking.cpp index 49e6ced71..31e1fbaff 100644 --- a/roboteam_ai/src/control/positionControl/pathTracking/BBTPathTracking.cpp +++ b/roboteam_ai/src/control/positionControl/pathTracking/BBTPathTracking.cpp @@ -1,7 +1,3 @@ -// -// Created by tijmen on 27-10-21. -// - #include "control/positionControl/pathTracking/BBTPathTracking.h" #include diff --git a/roboteam_ai/src/control/positionControl/pathTracking/DensePathTracking.cpp b/roboteam_ai/src/control/positionControl/pathTracking/DensePathTracking.cpp index c692d51d8..4eba4e0c6 100644 --- a/roboteam_ai/src/control/positionControl/pathTracking/DensePathTracking.cpp +++ b/roboteam_ai/src/control/positionControl/pathTracking/DensePathTracking.cpp @@ -1,7 +1,3 @@ -// -// Created by ratoone on 24-01-20. -// - #include "control/positionControl/pathTracking/DensePathTracking.h" #include "control/positionControl/PositionControlUtils.h" diff --git a/roboteam_ai/src/control/positionControl/pathTracking/PathTrackingAlgorithm.cpp b/roboteam_ai/src/control/positionControl/pathTracking/PathTrackingAlgorithm.cpp index 7aa9ead29..5ee11fb55 100644 --- a/roboteam_ai/src/control/positionControl/pathTracking/PathTrackingAlgorithm.cpp +++ b/roboteam_ai/src/control/positionControl/pathTracking/PathTrackingAlgorithm.cpp @@ -1,7 +1,3 @@ -// -// Created by ratoone on 09-03-20. -// - #include "control/positionControl/pathTracking/PathTrackingAlgorithm.h" namespace rtt::ai::control { diff --git a/roboteam_ai/src/gui/Out.cpp b/roboteam_ai/src/gui/Out.cpp index 560d6e1d4..4c28fd345 100644 --- a/roboteam_ai/src/gui/Out.cpp +++ b/roboteam_ai/src/gui/Out.cpp @@ -1,7 +1,3 @@ -// -// Created by Martin Miksik on 25/04/2023. -// - #include "gui/Out.h" #include "utilities/GameSettings.h" diff --git a/roboteam_ai/src/gui/networking/InterfaceGateway.cpp b/roboteam_ai/src/gui/networking/InterfaceGateway.cpp index 94501926d..bf21093f9 100644 --- a/roboteam_ai/src/gui/networking/InterfaceGateway.cpp +++ b/roboteam_ai/src/gui/networking/InterfaceGateway.cpp @@ -1,7 +1,3 @@ -// -// Created by Martin Miksik on 25/04/2023. -// - #include "gui/networking/InterfaceGateway.h" #include diff --git a/roboteam_ai/src/gui/networking/InterfacePublisher.cpp b/roboteam_ai/src/gui/networking/InterfacePublisher.cpp index b01c3efcb..1026452dd 100644 --- a/roboteam_ai/src/gui/networking/InterfacePublisher.cpp +++ b/roboteam_ai/src/gui/networking/InterfacePublisher.cpp @@ -1,7 +1,3 @@ -// -// Created by Martin Miksik on 24/05/2023. -// - #include "gui/networking/InterfacePublisher.h" #include "STPManager.h" diff --git a/roboteam_ai/src/gui/networking/InterfaceSubscriber.cpp b/roboteam_ai/src/gui/networking/InterfaceSubscriber.cpp index 0e92b5ea8..c74584cab 100644 --- a/roboteam_ai/src/gui/networking/InterfaceSubscriber.cpp +++ b/roboteam_ai/src/gui/networking/InterfaceSubscriber.cpp @@ -1,7 +1,3 @@ -// -// Created by Martin Miksik on 24/05/2023. -// - #include "gui/networking/InterfaceSubscriber.h" #include "RobotHubMode.h" diff --git a/roboteam_ai/src/stp/Play.cpp b/roboteam_ai/src/stp/Play.cpp index 64d18c200..9b131134e 100644 --- a/roboteam_ai/src/stp/Play.cpp +++ b/roboteam_ai/src/stp/Play.cpp @@ -1,7 +1,3 @@ -// -// Created by john on 3/9/20. -// - #include "stp/Play.hpp" #include "control/ControlUtils.h" @@ -225,7 +221,7 @@ void Play::DrawMargins() noexcept { }, rightDefenseAreaMargin); } - auto color = proto::Drawing::BLUE; + proto::Drawing::Color color; if (currentGameState == RefCommand::BALL_PLACEMENT_THEM || currentGameState == RefCommand::DIRECT_FREE_THEM || currentGameState == RefCommand::KICKOFF_THEM || currentGameState == RefCommand::PREPARE_FORCED_START) color = GameSettings::isYellow() ? proto::Drawing::YELLOW : proto::Drawing::BLUE; @@ -277,7 +273,7 @@ void Play::DrawMargins() noexcept { } std::array names = {"harasser", "passer", "receiver", "striker"}; std::array colors = {proto::Drawing::RED, proto::Drawing::WHITE, proto::Drawing::MAGENTA, proto::Drawing::WHITE}; - for (int i = 0; i < names.size(); i++) { + for (std::size_t i = 0; i < names.size(); i++) { if (stpInfos[names[i]].getRobot()) { std::array position = {stpInfos[names[i]].getRobot()->get()->getPos()}; rtt::ai::gui::Out::draw( diff --git a/roboteam_ai/src/stp/PlayDecider.cpp b/roboteam_ai/src/stp/PlayDecider.cpp index 8a0bce65c..fb9ed682a 100644 --- a/roboteam_ai/src/stp/PlayDecider.cpp +++ b/roboteam_ai/src/stp/PlayDecider.cpp @@ -1,7 +1,3 @@ -// -// Created by john on 3/9/20. -// - #include "stp/PlayDecider.hpp" #include @@ -37,7 +33,7 @@ Play* PlayDecider::decideBestPlay(const rtt::world::World* world, const std::vec return getPlayForName("Defend Shot", plays); } - return std::max_element(playsWithScores.begin(), playsWithScores.end(), [](auto& lhs, auto& rhs) { return lhs.second < rhs.second; })->first; + return std::max_element(playsWithScores.begin(), playsWithScores.end(), [](const auto& lhs, const auto& rhs) { return lhs.second < rhs.second; })->first; } bool PlayDecider::didLockPlay() noexcept { return playLock.didChange.exchange(false); } diff --git a/roboteam_ai/src/stp/PlayEvaluator.cpp b/roboteam_ai/src/stp/PlayEvaluator.cpp index 712b83ebf..fb2f0d82b 100644 --- a/roboteam_ai/src/stp/PlayEvaluator.cpp +++ b/roboteam_ai/src/stp/PlayEvaluator.cpp @@ -1,7 +1,3 @@ -// -// Created by maxl on 18-02-21. -// - #include "stp/PlayEvaluator.h" #include diff --git a/roboteam_ai/src/stp/Role.cpp b/roboteam_ai/src/stp/Role.cpp index a57586b69..7dc50947a 100644 --- a/roboteam_ai/src/stp/Role.cpp +++ b/roboteam_ai/src/stp/Role.cpp @@ -1,7 +1,3 @@ -// -// Created by john on 3/9/20. -// - #include "stp/Role.hpp" #include diff --git a/roboteam_ai/src/stp/Skill.cpp b/roboteam_ai/src/stp/Skill.cpp index 832343020..de4081b10 100644 --- a/roboteam_ai/src/stp/Skill.cpp +++ b/roboteam_ai/src/stp/Skill.cpp @@ -1,7 +1,3 @@ -// -// Created by john on 3/2/20. -// - #include "stp/Skill.h" #include "control/ControlModule.h" diff --git a/roboteam_ai/src/stp/Tactic.cpp b/roboteam_ai/src/stp/Tactic.cpp index 7aed8d37e..c1617c0ae 100644 --- a/roboteam_ai/src/stp/Tactic.cpp +++ b/roboteam_ai/src/stp/Tactic.cpp @@ -1,7 +1,3 @@ -// -// Created by jessevw on 03.03.20. -// - #include "stp/Tactic.h" #include diff --git a/roboteam_ai/src/stp/computations/GoalComputations.cpp b/roboteam_ai/src/stp/computations/GoalComputations.cpp index b94a49710..50443b52c 100644 --- a/roboteam_ai/src/stp/computations/GoalComputations.cpp +++ b/roboteam_ai/src/stp/computations/GoalComputations.cpp @@ -1,7 +1,3 @@ -// -// Created by maxl on 11-02-21. -// - #include "stp/computations/GoalComputations.h" #include diff --git a/roboteam_ai/src/stp/computations/PassComputations.cpp b/roboteam_ai/src/stp/computations/PassComputations.cpp index 37a0e13c6..1410600cc 100644 --- a/roboteam_ai/src/stp/computations/PassComputations.cpp +++ b/roboteam_ai/src/stp/computations/PassComputations.cpp @@ -1,7 +1,3 @@ -// -// Created by maxl on 11-02-21. -// - #include #include #include @@ -99,7 +95,7 @@ PassInfo PassComputations::calculatePass(gen::ScoreProfile profile, const rtt::w } if (passInfo.passScore == 0) { // If no good pass is found, pass to the robot furthest in the field - auto furthestRobotIt = std::max_element(possibleReceiverLocations.begin(), possibleReceiverLocations.end(), [](auto& p1, auto& p2) { return p1.x > p2.x; }); + auto furthestRobotIt = std::max_element(possibleReceiverLocations.begin(), possibleReceiverLocations.end(), [](const auto& p1, const auto& p2) { return p1.x > p2.x; }); // We should always be able to find a furthest robot, this check avoids the AI crashing in case something does go wrong due to changes/bugs passInfo.passLocation = (furthestRobotIt != possibleReceiverLocations.end()) ? *furthestRobotIt : Vector2(); } @@ -124,7 +120,7 @@ bool PassComputations::pointIsValidPassLocation(Vector2 point, Vector2 ballLocat if (!FieldComputations::pointIsValidPosition(field, point)) return false; // Pass is valid if the above conditions are met and there is a robot whose travel time is smaller than the balls travel time (i.e. the robot can actually receive the ball) auto ballTravelTime = calculateBallTravelTime(ballLocation, passerLocation, passerVelocity, point); - for (int i = 0; i < possibleReceiverLocations.size(); i++) { + for (std::vector::size_type i = 0; i < possibleReceiverLocations.size(); i++) { if (calculateRobotTravelTime(possibleReceiverLocations[i], possibleReceiverVelocities[i], point) < ballTravelTime) return true; } return false; diff --git a/roboteam_ai/src/stp/computations/PositionComputations.cpp b/roboteam_ai/src/stp/computations/PositionComputations.cpp index d740d5e09..d309923eb 100644 --- a/roboteam_ai/src/stp/computations/PositionComputations.cpp +++ b/roboteam_ai/src/stp/computations/PositionComputations.cpp @@ -1,7 +1,3 @@ -// -// Created by maxl on 09-02-21. -// - #include "stp/computations/PositionComputations.h" #include @@ -63,12 +59,11 @@ std::vector PositionComputations::determineWallPositions(const rtt::Fie } std::vector positions = {}; - Vector2 projectedPosition = {}; - std::vector lineBorderIntersects = {}; + Vector2 projectedPosition; // Find the intersection of the ball-to-goal line with the border of the defense area LineSegment ball2GoalLine = LineSegment(ballPos, field.leftGoalArea.rightLine().center()); - lineBorderIntersects = FieldComputations::getDefenseArea(field, true, spaceBetweenDefenseArea, 0).intersections(ball2GoalLine); + std::vector lineBorderIntersects = FieldComputations::getDefenseArea(field, true, spaceBetweenDefenseArea, 0).intersections(ball2GoalLine); // If there are intersections, sort them and use the first one. Otherwise, use a default position if (!lineBorderIntersects.empty()) { @@ -278,7 +273,7 @@ InterceptInfo PositionComputations::calculateInterceptionInfo(const Field &field for (double loopTime = 0; loopTime < 1; loopTime += 0.1) { newBallPos = FieldComputations::getBallPositionAtTime(*(world->getWorld()->getBall()->get()), loopTime); // If the line of sight score is too low or the ball is out of field, we don't intercept, we go to the ball - if (interceptId != keeperId && PositionScoring::scorePosition(newBallPos, gen::LineOfSight, field, world).score < interceptScore || + if ((interceptId != keeperId && PositionScoring::scorePosition(newBallPos, gen::LineOfSight, field, world).score < interceptScore) || !field.playArea.contains(newBallPos, control_constants::BALL_RADIUS)) { return {interceptLocation, minTimeRobotId}; } diff --git a/roboteam_ai/src/stp/computations/PositionScoring.cpp b/roboteam_ai/src/stp/computations/PositionScoring.cpp index 5f3656dc6..32b1ac184 100644 --- a/roboteam_ai/src/stp/computations/PositionScoring.cpp +++ b/roboteam_ai/src/stp/computations/PositionScoring.cpp @@ -1,7 +1,3 @@ -// -// Created by alexander on 02-12-21. -// - #include "stp/computations/PositionScoring.h" #include "stp/computations/ComputationManager.h" diff --git a/roboteam_ai/src/stp/evaluations/game_states/BallPlacementThemGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/BallPlacementThemGameStateEvaluation.cpp index dce169564..bfafe8dcc 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/BallPlacementThemGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/BallPlacementThemGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by timovdk on 4/20/20. -// - #include "stp/evaluations/game_states/BallPlacementThemGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/BallPlacementUsGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/BallPlacementUsGameStateEvaluation.cpp index 1d9097392..0cc932e0e 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/BallPlacementUsGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/BallPlacementUsGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by timovdk on 4/14/20. -// - #include "stp/evaluations/game_states/BallPlacementUsGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/FreeKickThemGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/FreeKickThemGameStateEvaluation.cpp index 7f81b168f..19a621045 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/FreeKickThemGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/FreeKickThemGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #include "stp/evaluations/game_states/FreeKickThemGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/FreeKickUsGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/FreeKickUsGameStateEvaluation.cpp index 1814063dc..66961a612 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/FreeKickUsGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/FreeKickUsGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #include "stp/evaluations/game_states/FreeKickUsGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/HaltGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/HaltGameStateEvaluation.cpp index 28dc06eb0..b2ffd6899 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/HaltGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/HaltGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by ratoone on 27-03-20. -// - #include "stp/evaluations/game_states/HaltGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/KickOffThemGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/KickOffThemGameStateEvaluation.cpp index b5410aca7..25038d046 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/KickOffThemGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/KickOffThemGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #include "stp/evaluations/game_states/KickOffThemGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/KickOffThemPrepareGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/KickOffThemPrepareGameStateEvaluation.cpp index c2032300b..0a3763497 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/KickOffThemPrepareGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/KickOffThemPrepareGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #include "stp/evaluations/game_states/KickOffThemPrepareGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/KickOffUsGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/KickOffUsGameStateEvaluation.cpp index 540774c58..4fd0956ee 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/KickOffUsGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/KickOffUsGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #include "stp/evaluations/game_states/KickOffUsGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/KickOffUsOrNormalGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/KickOffUsOrNormalGameStateEvaluation.cpp index bdfdfae6e..1d8abfe71 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/KickOffUsOrNormalGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/KickOffUsOrNormalGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by Alexander on 28-01-2022 -// - #include "stp/evaluations/game_states/KickOffUsOrNormalGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/KickOffUsPrepareGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/KickOffUsPrepareGameStateEvaluation.cpp index 0a8d9d366..38a0cd56f 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/KickOffUsPrepareGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/KickOffUsPrepareGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #include "stp/evaluations/game_states/KickOffUsPrepareGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/NormalOrFreeKickUsGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/NormalOrFreeKickUsGameStateEvaluation.cpp index 5be07ceef..800638ead 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/NormalOrFreeKickUsGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/NormalOrFreeKickUsGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by ratoone on 15-05-20. -// - #include "stp/evaluations/game_states/NormalOrFreeKickUsGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/NormalPlayGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/NormalPlayGameStateEvaluation.cpp index d5eb2fe31..626b7cb57 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/NormalPlayGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/NormalPlayGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #include "stp/evaluations/game_states/NormalPlayGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/PenaltyThemGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/PenaltyThemGameStateEvaluation.cpp index 5130fa990..6b877f8b3 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/PenaltyThemGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/PenaltyThemGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #include "stp/evaluations/game_states/PenaltyThemGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/PenaltyThemPrepareGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/PenaltyThemPrepareGameStateEvaluation.cpp index c7e82ff5a..256fc67fd 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/PenaltyThemPrepareGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/PenaltyThemPrepareGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #include "stp/evaluations/game_states/PenaltyThemPrepareGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/PenaltyUsGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/PenaltyUsGameStateEvaluation.cpp index 3ac0cd699..5ec844177 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/PenaltyUsGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/PenaltyUsGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #include "stp/evaluations/game_states/PenaltyUsGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/PenaltyUsPrepareGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/PenaltyUsPrepareGameStateEvaluation.cpp index 61c25da52..f53dff8b8 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/PenaltyUsPrepareGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/PenaltyUsPrepareGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #include "stp/evaluations/game_states/PenaltyUsPrepareGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/StopGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/StopGameStateEvaluation.cpp index 0eb306256..a5bcc26a2 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/StopGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/StopGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #include "stp/evaluations/game_states/StopGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/game_states/TimeOutGameStateEvaluation.cpp b/roboteam_ai/src/stp/evaluations/game_states/TimeOutGameStateEvaluation.cpp index a0dfa7c38..a3144385d 100644 --- a/roboteam_ai/src/stp/evaluations/game_states/TimeOutGameStateEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/game_states/TimeOutGameStateEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 28-04-20. -// - #include "stp/evaluations/game_states/TimeOutGameStateEvaluation.h" #include "utilities/GameStateManager.hpp" diff --git a/roboteam_ai/src/stp/evaluations/global/BallInOurDefenseAreaAndStillGlobalEvaluation.cpp b/roboteam_ai/src/stp/evaluations/global/BallInOurDefenseAreaAndStillGlobalEvaluation.cpp index b76f27c9f..df9826387 100644 --- a/roboteam_ai/src/stp/evaluations/global/BallInOurDefenseAreaAndStillGlobalEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/global/BallInOurDefenseAreaAndStillGlobalEvaluation.cpp @@ -1,8 +1,3 @@ -// -// Created by Alexander on 29-01-2022 -/// T/F Invariant if the ball is in our defense area and not moving -// - #include "stp/evaluations/global/BallInOurDefenseAreaAndStillGlobalEvaluation.h" #include "stp/constants/ControlConstants.h" diff --git a/roboteam_ai/src/stp/evaluations/global/BallNotInOurDefenseAreaAndStillGlobalEvaluation.cpp b/roboteam_ai/src/stp/evaluations/global/BallNotInOurDefenseAreaAndStillGlobalEvaluation.cpp index 7df20e75c..04bbbf40d 100644 --- a/roboteam_ai/src/stp/evaluations/global/BallNotInOurDefenseAreaAndStillGlobalEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/global/BallNotInOurDefenseAreaAndStillGlobalEvaluation.cpp @@ -1,8 +1,3 @@ -// -// Created by Alexander on 29-01-2022 -/// T/F Invariant if the ball is in our defense area and not moving -// - #include "stp/evaluations/global/BallNotInOurDefenseAreaAndStillGlobalEvaluation.h" #include "stp/constants/ControlConstants.h" diff --git a/roboteam_ai/src/stp/evaluations/global/BallOnOurSideGlobalEvaluation.cpp b/roboteam_ai/src/stp/evaluations/global/BallOnOurSideGlobalEvaluation.cpp index a0a93302a..6a011f5c7 100644 --- a/roboteam_ai/src/stp/evaluations/global/BallOnOurSideGlobalEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/global/BallOnOurSideGlobalEvaluation.cpp @@ -1,8 +1,3 @@ -// -// Created by timovdk on 4/14/20. -/// T/F Invariant if the ball is on FRIENDLY side -// - #include "stp/evaluations/global/BallOnOurSideGlobalEvaluation.h" namespace rtt::ai::stp::evaluation { diff --git a/roboteam_ai/src/stp/evaluations/global/BallOnTheirSideGlobalEvaluation.cpp b/roboteam_ai/src/stp/evaluations/global/BallOnTheirSideGlobalEvaluation.cpp index 64be54dca..7c181c36c 100644 --- a/roboteam_ai/src/stp/evaluations/global/BallOnTheirSideGlobalEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/global/BallOnTheirSideGlobalEvaluation.cpp @@ -1,8 +1,3 @@ -// -// Created by jaro on 30-10-20. -/// T/F Invariant if the ball is on ENEMY side -// - #include "stp/evaluations/global/BallOnTheirSideGlobalEvaluation.h" namespace rtt::ai::stp::evaluation { diff --git a/roboteam_ai/src/stp/evaluations/global/TheyDoNotHaveBallGlobalEvaluation.cpp b/roboteam_ai/src/stp/evaluations/global/TheyDoNotHaveBallGlobalEvaluation.cpp index 4b5b0c7a8..9fda685a3 100644 --- a/roboteam_ai/src/stp/evaluations/global/TheyDoNotHaveBallGlobalEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/global/TheyDoNotHaveBallGlobalEvaluation.cpp @@ -1,8 +1,3 @@ -// -// Created by Alexander on 27-03-20. -/// T/F Invariant if ENEMY does not have BALL -// - #include "stp/evaluations/global/TheyDoNotHaveBallGlobalEvaluation.h" namespace rtt::ai::stp::evaluation { diff --git a/roboteam_ai/src/stp/evaluations/global/TheyHaveBallGlobalEvaluation.cpp b/roboteam_ai/src/stp/evaluations/global/TheyHaveBallGlobalEvaluation.cpp index 4189dc101..42c29ff79 100644 --- a/roboteam_ai/src/stp/evaluations/global/TheyHaveBallGlobalEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/global/TheyHaveBallGlobalEvaluation.cpp @@ -1,8 +1,3 @@ -// -// Created by ratoone on 27-03-20. -/// T/F Invariant if ENEMY has BALL -// - #include "stp/evaluations/global/TheyHaveBallGlobalEvaluation.h" namespace rtt::ai::stp::evaluation { diff --git a/roboteam_ai/src/stp/evaluations/global/WeDoNotHaveBallGlobalEvaluation.cpp b/roboteam_ai/src/stp/evaluations/global/WeDoNotHaveBallGlobalEvaluation.cpp index 5b6841905..3ca21a22f 100644 --- a/roboteam_ai/src/stp/evaluations/global/WeDoNotHaveBallGlobalEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/global/WeDoNotHaveBallGlobalEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by Luuk and Jorn on 12-12-23. -// - #include "stp/evaluations/global/WeDoNotHaveBallGlobalEvaluation.h" namespace rtt::ai::stp::evaluation { diff --git a/roboteam_ai/src/stp/evaluations/global/WeHaveBallGlobalEvaluation.cpp b/roboteam_ai/src/stp/evaluations/global/WeHaveBallGlobalEvaluation.cpp index e17659442..038d55e03 100644 --- a/roboteam_ai/src/stp/evaluations/global/WeHaveBallGlobalEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/global/WeHaveBallGlobalEvaluation.cpp @@ -1,8 +1,3 @@ -// -// Created by ratoone on 27-03-20. -/// T/F Invariant if FRIENDLY has BALL -// - #include "stp/evaluations/global/WeHaveBallGlobalEvaluation.h" namespace rtt::ai::stp::evaluation { diff --git a/roboteam_ai/src/stp/evaluations/position/GoalShotEvaluation.cpp b/roboteam_ai/src/stp/evaluations/position/GoalShotEvaluation.cpp index d52f945ee..d4541370f 100644 --- a/roboteam_ai/src/stp/evaluations/position/GoalShotEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/position/GoalShotEvaluation.cpp @@ -1,10 +1,6 @@ -// -// Created by maxl on 23-03-21. -// - #include "stp/evaluations/position/GoalShotEvaluation.h" -#include // For clamp +#include #include namespace rtt::ai::stp::evaluation { diff --git a/roboteam_ai/src/stp/evaluations/position/LineOfSightEvaluation.cpp b/roboteam_ai/src/stp/evaluations/position/LineOfSightEvaluation.cpp index 774babc90..03349edf7 100644 --- a/roboteam_ai/src/stp/evaluations/position/LineOfSightEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/position/LineOfSightEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by maxl on 19-03-21. -// - #include "stp/evaluations/position/LineOfSightEvaluation.h" #include diff --git a/roboteam_ai/src/stp/evaluations/position/OpennessEvaluation.cpp b/roboteam_ai/src/stp/evaluations/position/OpennessEvaluation.cpp index 332f378cd..a1922947c 100644 --- a/roboteam_ai/src/stp/evaluations/position/OpennessEvaluation.cpp +++ b/roboteam_ai/src/stp/evaluations/position/OpennessEvaluation.cpp @@ -1,7 +1,3 @@ -// -// Created by maxl on 19-03-21. -// - #include "stp/evaluations/position/OpennessEvaluation.h" #include diff --git a/roboteam_ai/src/stp/plays/defensive/DefendPass.cpp b/roboteam_ai/src/stp/plays/defensive/DefendPass.cpp index 500902b1b..596b7861d 100644 --- a/roboteam_ai/src/stp/plays/defensive/DefendPass.cpp +++ b/roboteam_ai/src/stp/plays/defensive/DefendPass.cpp @@ -1,7 +1,3 @@ -// -// Created by agata on 14/01/2022. -// - #include "stp/plays/defensive/DefendPass.h" #include diff --git a/roboteam_ai/src/stp/plays/defensive/DefendShot.cpp b/roboteam_ai/src/stp/plays/defensive/DefendShot.cpp index 7836b0f79..f1cbacd7c 100644 --- a/roboteam_ai/src/stp/plays/defensive/DefendShot.cpp +++ b/roboteam_ai/src/stp/plays/defensive/DefendShot.cpp @@ -1,7 +1,3 @@ -// -// Created by agata on 14/01/2022. -// - #include "stp/plays/defensive/DefendShot.h" #include diff --git a/roboteam_ai/src/stp/plays/defensive/KeeperKickBall.cpp b/roboteam_ai/src/stp/plays/defensive/KeeperKickBall.cpp index 954862968..0c64b829b 100644 --- a/roboteam_ai/src/stp/plays/defensive/KeeperKickBall.cpp +++ b/roboteam_ai/src/stp/plays/defensive/KeeperKickBall.cpp @@ -1,7 +1,3 @@ -// -// Created by Alexander on 29/01/2022. -// - #include "stp/plays/defensive/KeeperKickBall.h" #include "stp/computations/PassComputations.h" diff --git a/roboteam_ai/src/stp/plays/offensive/Attack.cpp b/roboteam_ai/src/stp/plays/offensive/Attack.cpp index e7a7a0a6e..f1c3d3265 100644 --- a/roboteam_ai/src/stp/plays/offensive/Attack.cpp +++ b/roboteam_ai/src/stp/plays/offensive/Attack.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 24-03-20. -// - #include "stp/plays/offensive/Attack.h" #include diff --git a/roboteam_ai/src/stp/plays/offensive/AttackingPass.cpp b/roboteam_ai/src/stp/plays/offensive/AttackingPass.cpp index 8eed6494a..60362fb49 100644 --- a/roboteam_ai/src/stp/plays/offensive/AttackingPass.cpp +++ b/roboteam_ai/src/stp/plays/offensive/AttackingPass.cpp @@ -1,7 +1,3 @@ -// -// Created by jessevw on 17.03.20. -// - #include "stp/plays/offensive/AttackingPass.h" #include diff --git a/roboteam_ai/src/stp/plays/offensive/ChippingPass.cpp b/roboteam_ai/src/stp/plays/offensive/ChippingPass.cpp index bb99f8096..ac7ab42a4 100644 --- a/roboteam_ai/src/stp/plays/offensive/ChippingPass.cpp +++ b/roboteam_ai/src/stp/plays/offensive/ChippingPass.cpp @@ -1,7 +1,3 @@ -// -// Created by doormat on 22-11-22. -// - #include "stp/plays/offensive/ChippingPass.h" #include diff --git a/roboteam_ai/src/stp/plays/referee_specific/AggressiveStopFormation.cpp b/roboteam_ai/src/stp/plays/referee_specific/AggressiveStopFormation.cpp index 75f580580..f91a5af41 100644 --- a/roboteam_ai/src/stp/plays/referee_specific/AggressiveStopFormation.cpp +++ b/roboteam_ai/src/stp/plays/referee_specific/AggressiveStopFormation.cpp @@ -1,7 +1,3 @@ -// -// Created by timovdk on 3/30/20. -// - #include "stp/plays/referee_specific/AggressiveStopFormation.h" #include "stp/roles/Keeper.h" diff --git a/roboteam_ai/src/stp/plays/referee_specific/BallPlacementThem.cpp b/roboteam_ai/src/stp/plays/referee_specific/BallPlacementThem.cpp index d6816c08f..af7cfe3f7 100644 --- a/roboteam_ai/src/stp/plays/referee_specific/BallPlacementThem.cpp +++ b/roboteam_ai/src/stp/plays/referee_specific/BallPlacementThem.cpp @@ -1,7 +1,3 @@ -// -// Created by jessevw on 24.03.20. -// - #include "stp/plays/referee_specific/BallPlacementThem.h" #include "stp/roles/Keeper.h" diff --git a/roboteam_ai/src/stp/plays/referee_specific/BallPlacementUsForceStart.cpp b/roboteam_ai/src/stp/plays/referee_specific/BallPlacementUsForceStart.cpp index a140c20df..258a913c0 100644 --- a/roboteam_ai/src/stp/plays/referee_specific/BallPlacementUsForceStart.cpp +++ b/roboteam_ai/src/stp/plays/referee_specific/BallPlacementUsForceStart.cpp @@ -1,7 +1,3 @@ -// -// Created by Luuk on 31/1/2024. -// - #include "stp/plays/referee_specific/BallPlacementUsForceStart.h" #include "stp/roles/Keeper.h" @@ -69,7 +65,7 @@ void BallPlacementUsForceStart::calculateInfoForRoles() noexcept { PositionComputations::calculateInfoForDefendersAndWallers(stpInfos, roles, field, world, false); PositionComputations::calculateInfoForAttackers(stpInfos, roles, field, world); - Vector2 ballTarget = Vector2(); + Vector2 ballTarget; // Adjust placement position to be one robot radius away in the distance of movement if (stpInfos["ball_placer"].getRobot()) { diff --git a/roboteam_ai/src/stp/plays/referee_specific/BallPlacementUsFreeKick.cpp b/roboteam_ai/src/stp/plays/referee_specific/BallPlacementUsFreeKick.cpp index dd932d7ec..c7c95892e 100644 --- a/roboteam_ai/src/stp/plays/referee_specific/BallPlacementUsFreeKick.cpp +++ b/roboteam_ai/src/stp/plays/referee_specific/BallPlacementUsFreeKick.cpp @@ -1,7 +1,3 @@ -// -// Created by Luuk on 31/1/2024. -// - #include "stp/plays/referee_specific/BallPlacementUsFreeKick.h" #include "stp/roles/Keeper.h" @@ -69,7 +65,7 @@ void BallPlacementUsFreeKick::calculateInfoForRoles() noexcept { PositionComputations::calculateInfoForDefendersAndWallers(stpInfos, roles, field, world, true); PositionComputations::calculateInfoForAttackers(stpInfos, roles, field, world); - Vector2 ballTarget = Vector2(); + Vector2 ballTarget; // Adjust placement position to be one robot radius away in the distance of movement if (stpInfos["ball_placer"].getRobot()) { diff --git a/roboteam_ai/src/stp/plays/referee_specific/DefensiveStopFormation.cpp b/roboteam_ai/src/stp/plays/referee_specific/DefensiveStopFormation.cpp index a9bbd1d51..7215c7b0c 100644 --- a/roboteam_ai/src/stp/plays/referee_specific/DefensiveStopFormation.cpp +++ b/roboteam_ai/src/stp/plays/referee_specific/DefensiveStopFormation.cpp @@ -1,7 +1,3 @@ -// -// Created by timo on 3/27/20. -// - #include "stp/plays/referee_specific/DefensiveStopFormation.h" #include "stp/roles/Keeper.h" diff --git a/roboteam_ai/src/stp/plays/referee_specific/FreeKickThem.cpp b/roboteam_ai/src/stp/plays/referee_specific/FreeKickThem.cpp index 054955cf4..b297bbb28 100644 --- a/roboteam_ai/src/stp/plays/referee_specific/FreeKickThem.cpp +++ b/roboteam_ai/src/stp/plays/referee_specific/FreeKickThem.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 07-05-20. -// - #include "stp/plays/referee_specific/FreeKickThem.h" #include "stp/computations/PositionComputations.h" diff --git a/roboteam_ai/src/stp/plays/referee_specific/FreeKickUsAtGoal.cpp b/roboteam_ai/src/stp/plays/referee_specific/FreeKickUsAtGoal.cpp index 4e7399fc1..ed65cf3c4 100644 --- a/roboteam_ai/src/stp/plays/referee_specific/FreeKickUsAtGoal.cpp +++ b/roboteam_ai/src/stp/plays/referee_specific/FreeKickUsAtGoal.cpp @@ -1,7 +1,3 @@ -// -// Created by Floris Hoek on 22-06-21. -// - #include "stp/plays/referee_specific/FreeKickUsAtGoal.h" #include "stp/computations/GoalComputations.h" diff --git a/roboteam_ai/src/stp/plays/referee_specific/FreeKickUsPass.cpp b/roboteam_ai/src/stp/plays/referee_specific/FreeKickUsPass.cpp index 111af1c06..865fd4821 100644 --- a/roboteam_ai/src/stp/plays/referee_specific/FreeKickUsPass.cpp +++ b/roboteam_ai/src/stp/plays/referee_specific/FreeKickUsPass.cpp @@ -1,7 +1,3 @@ -// -// Created by Tijmen on 22-04-22. -// - #include "stp/plays/referee_specific/FreeKickUsPass.h" #include "stp/computations/PassComputations.h" diff --git a/roboteam_ai/src/stp/plays/referee_specific/Halt.cpp b/roboteam_ai/src/stp/plays/referee_specific/Halt.cpp index 47a26592d..044f0d9d3 100644 --- a/roboteam_ai/src/stp/plays/referee_specific/Halt.cpp +++ b/roboteam_ai/src/stp/plays/referee_specific/Halt.cpp @@ -1,7 +1,3 @@ -// -// Created by jessevw on 24.03.20. -// - #include "stp/plays/referee_specific/Halt.h" #include "stp/evaluations/game_states/HaltGameStateEvaluation.h" diff --git a/roboteam_ai/src/stp/plays/referee_specific/KickOffThem.cpp b/roboteam_ai/src/stp/plays/referee_specific/KickOffThem.cpp index a4e636636..ad7f04095 100644 --- a/roboteam_ai/src/stp/plays/referee_specific/KickOffThem.cpp +++ b/roboteam_ai/src/stp/plays/referee_specific/KickOffThem.cpp @@ -1,7 +1,3 @@ -// -// Created by timovdk on 5/1/20. -// - #include "stp/plays/referee_specific/KickOffThem.h" #include "stp/roles/Keeper.h" diff --git a/roboteam_ai/src/stp/plays/referee_specific/KickOffThemPrepare.cpp b/roboteam_ai/src/stp/plays/referee_specific/KickOffThemPrepare.cpp index 063461cf9..8c33537ca 100644 --- a/roboteam_ai/src/stp/plays/referee_specific/KickOffThemPrepare.cpp +++ b/roboteam_ai/src/stp/plays/referee_specific/KickOffThemPrepare.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 30-04-20. -// - #include "stp/plays/referee_specific/KickOffThemPrepare.h" #include "stp/roles/Keeper.h" diff --git a/roboteam_ai/src/stp/plays/referee_specific/KickOffUs.cpp b/roboteam_ai/src/stp/plays/referee_specific/KickOffUs.cpp index dbe41c5c6..e3195ae41 100644 --- a/roboteam_ai/src/stp/plays/referee_specific/KickOffUs.cpp +++ b/roboteam_ai/src/stp/plays/referee_specific/KickOffUs.cpp @@ -1,7 +1,3 @@ -// -// Created by timovdk on 5/1/20. -// - #include "stp/plays/referee_specific/KickOffUs.h" #include "stp/roles/Keeper.h" diff --git a/roboteam_ai/src/stp/plays/referee_specific/KickOffUsPrepare.cpp b/roboteam_ai/src/stp/plays/referee_specific/KickOffUsPrepare.cpp index 9f45e4556..285a6c521 100644 --- a/roboteam_ai/src/stp/plays/referee_specific/KickOffUsPrepare.cpp +++ b/roboteam_ai/src/stp/plays/referee_specific/KickOffUsPrepare.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 30-04-20. -// - #include "stp/plays/referee_specific/KickOffUsPrepare.h" #include "stp/roles/Keeper.h" diff --git a/roboteam_ai/src/stp/plays/referee_specific/PenaltyThem.cpp b/roboteam_ai/src/stp/plays/referee_specific/PenaltyThem.cpp index 6392e11b1..788d6cc27 100644 --- a/roboteam_ai/src/stp/plays/referee_specific/PenaltyThem.cpp +++ b/roboteam_ai/src/stp/plays/referee_specific/PenaltyThem.cpp @@ -1,7 +1,3 @@ -// -// Created by timovdk on 4/28/20. -// - #include "stp/plays/referee_specific/PenaltyThem.h" #include "stp/roles/Keeper.h" diff --git a/roboteam_ai/src/stp/plays/referee_specific/PenaltyUs.cpp b/roboteam_ai/src/stp/plays/referee_specific/PenaltyUs.cpp index a4cc18fe5..25c16193e 100644 --- a/roboteam_ai/src/stp/plays/referee_specific/PenaltyUs.cpp +++ b/roboteam_ai/src/stp/plays/referee_specific/PenaltyUs.cpp @@ -1,7 +1,3 @@ -// -// Created by timovdk on 5/1/20. -// - #include "stp/plays/referee_specific/PenaltyUs.h" #include "stp/computations/GoalComputations.h" diff --git a/roboteam_ai/src/stp/roles/Keeper.cpp b/roboteam_ai/src/stp/roles/Keeper.cpp index 2bb2be2ae..ef01e3130 100644 --- a/roboteam_ai/src/stp/roles/Keeper.cpp +++ b/roboteam_ai/src/stp/roles/Keeper.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 08-04-20. -// - #include "stp/roles/Keeper.h" #include diff --git a/roboteam_ai/src/stp/roles/PenaltyKeeper.cpp b/roboteam_ai/src/stp/roles/PenaltyKeeper.cpp index 0bb4c0fd0..5d0467188 100644 --- a/roboteam_ai/src/stp/roles/PenaltyKeeper.cpp +++ b/roboteam_ai/src/stp/roles/PenaltyKeeper.cpp @@ -1,8 +1,3 @@ -// -// Created by jordi on 08-04-20. -// Modified by timovdk on 4/29/20. -// - #include "stp/roles/PenaltyKeeper.h" #include diff --git a/roboteam_ai/src/stp/roles/TestRole.cpp b/roboteam_ai/src/stp/roles/TestRole.cpp index e669eac38..14abf74b8 100644 --- a/roboteam_ai/src/stp/roles/TestRole.cpp +++ b/roboteam_ai/src/stp/roles/TestRole.cpp @@ -1,7 +1,3 @@ -// -// Created by timovdk on 3/10/20. -// - #include "stp/roles/TestRole.h" #include "stp/tactics/TestTactic.h" diff --git a/roboteam_ai/src/stp/roles/active/BallPlacer.cpp b/roboteam_ai/src/stp/roles/active/BallPlacer.cpp index 5ab210fd1..cc1c60bce 100644 --- a/roboteam_ai/src/stp/roles/active/BallPlacer.cpp +++ b/roboteam_ai/src/stp/roles/active/BallPlacer.cpp @@ -1,7 +1,3 @@ -// -// Created by jesse on 07-04-20. -// - #include "stp/roles/active/BallPlacer.h" #include diff --git a/roboteam_ai/src/stp/roles/active/Chipper.cpp b/roboteam_ai/src/stp/roles/active/Chipper.cpp index 6c3be32ee..e383a113e 100644 --- a/roboteam_ai/src/stp/roles/active/Chipper.cpp +++ b/roboteam_ai/src/stp/roles/active/Chipper.cpp @@ -1,7 +1,3 @@ -// -// Created by doormat on 22-11-22. -// - #include "stp/roles/active/Chipper.h" #include "stp/tactics/active/ChipAtPos.h" diff --git a/roboteam_ai/src/stp/roles/active/FreeKickTaker.cpp b/roboteam_ai/src/stp/roles/active/FreeKickTaker.cpp index 3e7dae61d..84dd0b8c0 100644 --- a/roboteam_ai/src/stp/roles/active/FreeKickTaker.cpp +++ b/roboteam_ai/src/stp/roles/active/FreeKickTaker.cpp @@ -1,7 +1,3 @@ -// -// Created Alexander on 22-04-2022 -// - #include "stp/roles/active/FreeKickTaker.h" #include "stp/tactics/active/GetBall.h" diff --git a/roboteam_ai/src/stp/roles/active/Harasser.cpp b/roboteam_ai/src/stp/roles/active/Harasser.cpp index be14ea867..833c07cd8 100644 --- a/roboteam_ai/src/stp/roles/active/Harasser.cpp +++ b/roboteam_ai/src/stp/roles/active/Harasser.cpp @@ -1,7 +1,3 @@ -// -// Created by tijmen on 24-04-22. -// - #include "stp/roles/active/Harasser.h" #include "stp/tactics/active/GetBall.h" diff --git a/roboteam_ai/src/stp/roles/active/KeeperPasser.cpp b/roboteam_ai/src/stp/roles/active/KeeperPasser.cpp index a7cbc26d2..8b91df936 100644 --- a/roboteam_ai/src/stp/roles/active/KeeperPasser.cpp +++ b/roboteam_ai/src/stp/roles/active/KeeperPasser.cpp @@ -1,7 +1,3 @@ -// -// Created by tijmen on 14-07-22. -// - #include "stp/roles/active/KeeperPasser.h" #include "stp/tactics/KeeperBlockBall.h" diff --git a/roboteam_ai/src/stp/roles/active/PassReceiver.cpp b/roboteam_ai/src/stp/roles/active/PassReceiver.cpp index 3a5ec8423..d429fd437 100644 --- a/roboteam_ai/src/stp/roles/active/PassReceiver.cpp +++ b/roboteam_ai/src/stp/roles/active/PassReceiver.cpp @@ -1,7 +1,3 @@ -// -// Created by jessevw on 17.03.20. -// - #include "stp/roles/active/PassReceiver.h" #include "stp/tactics/active/Receive.h" diff --git a/roboteam_ai/src/stp/roles/active/Passer.cpp b/roboteam_ai/src/stp/roles/active/Passer.cpp index 702f1802b..38d23312a 100644 --- a/roboteam_ai/src/stp/roles/active/Passer.cpp +++ b/roboteam_ai/src/stp/roles/active/Passer.cpp @@ -1,7 +1,3 @@ -// -// Created by jessevw on 17.03.20. -// - #include "stp/roles/active/Passer.h" #include "stp/tactics/active/GetBall.h" diff --git a/roboteam_ai/src/stp/roles/active/PenaltyTaker.cpp b/roboteam_ai/src/stp/roles/active/PenaltyTaker.cpp index 5da5825c6..99ff79633 100644 --- a/roboteam_ai/src/stp/roles/active/PenaltyTaker.cpp +++ b/roboteam_ai/src/stp/roles/active/PenaltyTaker.cpp @@ -13,10 +13,9 @@ PenaltyTaker::PenaltyTaker(std::string name) : Role(std::move(name)) { [[nodiscard]] Status PenaltyTaker::update(StpInfo const& info) noexcept { StpInfo infoCopy = info; - static double distanceDriven = 0.0; - static Vector2 lastPosition; - if (info.getRobot().has_value()) { + static double distanceDriven = 0.0; + static Vector2 lastPosition; auto currentPos = info.getRobot()->get()->getPos(); auto currentVel = info.getRobot()->get()->getVel(); distanceDriven += (currentPos - lastPosition).length(); diff --git a/roboteam_ai/src/stp/roles/active/Striker.cpp b/roboteam_ai/src/stp/roles/active/Striker.cpp index e9ebf7277..94571a226 100644 --- a/roboteam_ai/src/stp/roles/active/Striker.cpp +++ b/roboteam_ai/src/stp/roles/active/Striker.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 17-03-20. -// - #include "stp/roles/active/Striker.h" #include "stp/tactics/active/GetBall.h" diff --git a/roboteam_ai/src/stp/roles/passive/Defender.cpp b/roboteam_ai/src/stp/roles/passive/Defender.cpp index 04a6ab295..d6798732f 100644 --- a/roboteam_ai/src/stp/roles/passive/Defender.cpp +++ b/roboteam_ai/src/stp/roles/passive/Defender.cpp @@ -1,8 +1,3 @@ -// -// Created by jordi on 26-03-20. -/// TODO-Max Fix Intercept usage in play (mimics "Oppertunic Behavior") -// - #include "stp/roles/passive/Defender.h" #include "stp/tactics/passive/BlockBall.h" diff --git a/roboteam_ai/src/stp/roles/passive/Formation.cpp b/roboteam_ai/src/stp/roles/passive/Formation.cpp index 73cb8b51b..1044bdb43 100644 --- a/roboteam_ai/src/stp/roles/passive/Formation.cpp +++ b/roboteam_ai/src/stp/roles/passive/Formation.cpp @@ -1,7 +1,3 @@ -// -// Created by timovdk on 3/27/20. -// - #include "stp/roles/passive/Formation.h" #include "stp/tactics/passive/Formation.h" diff --git a/roboteam_ai/src/stp/roles/passive/Halt.cpp b/roboteam_ai/src/stp/roles/passive/Halt.cpp index 5c5b1875b..e256e51dc 100644 --- a/roboteam_ai/src/stp/roles/passive/Halt.cpp +++ b/roboteam_ai/src/stp/roles/passive/Halt.cpp @@ -1,7 +1,3 @@ -// -// Created by jessevw on 24.03.20. -// - #include "stp/roles/passive/Halt.h" #include "stp/tactics/passive/Halt.h" diff --git a/roboteam_ai/src/stp/skills/Chip.cpp b/roboteam_ai/src/stp/skills/Chip.cpp index 8d962c510..250592f3a 100644 --- a/roboteam_ai/src/stp/skills/Chip.cpp +++ b/roboteam_ai/src/stp/skills/Chip.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 09-03-20. -// used in ChipAtPos tactic - #include "stp/skills/Chip.h" #include "stp/constants/ControlConstants.h" diff --git a/roboteam_ai/src/stp/skills/GoToPos.cpp b/roboteam_ai/src/stp/skills/GoToPos.cpp index 1e6c079d3..fcd0abf9e 100644 --- a/roboteam_ai/src/stp/skills/GoToPos.cpp +++ b/roboteam_ai/src/stp/skills/GoToPos.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 09-03-20. -// - #include "stp/skills/GoToPos.h" #include "control/positionControl/BBTrajectories/WorldObjects.h" diff --git a/roboteam_ai/src/stp/skills/Kick.cpp b/roboteam_ai/src/stp/skills/Kick.cpp index e0fb90904..58ca88876 100644 --- a/roboteam_ai/src/stp/skills/Kick.cpp +++ b/roboteam_ai/src/stp/skills/Kick.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 03-03-20. -// - #include "stp/skills/Kick.h" #include "roboteam_utils/Print.h" diff --git a/roboteam_ai/src/stp/skills/Orbit.cpp b/roboteam_ai/src/stp/skills/Orbit.cpp index 90684b268..37ef7b042 100644 --- a/roboteam_ai/src/stp/skills/Orbit.cpp +++ b/roboteam_ai/src/stp/skills/Orbit.cpp @@ -1,7 +1,3 @@ -// -// Created by mamiksik on 22-04-21. -// - #include "stp/skills/Orbit.h" #include "stp/constants/ControlConstants.h" diff --git a/roboteam_ai/src/stp/skills/Rotate.cpp b/roboteam_ai/src/stp/skills/Rotate.cpp index 108994fac..2d1c62b29 100644 --- a/roboteam_ai/src/stp/skills/Rotate.cpp +++ b/roboteam_ai/src/stp/skills/Rotate.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 06-03-20. -// - #include "stp/skills/Rotate.h" #include "control/ControlUtils.h" diff --git a/roboteam_ai/src/stp/skills/TestSkill.cpp b/roboteam_ai/src/stp/skills/TestSkill.cpp index 90bbbe1dc..f1414bf9d 100644 --- a/roboteam_ai/src/stp/skills/TestSkill.cpp +++ b/roboteam_ai/src/stp/skills/TestSkill.cpp @@ -1,7 +1,3 @@ -// -// Created by rtt-vision on 12-10-21. -// - #include "stp/skills/TestSkill.h" namespace rtt::ai::stp::skill { diff --git a/roboteam_ai/src/stp/tactics/KeeperBlockBall.cpp b/roboteam_ai/src/stp/tactics/KeeperBlockBall.cpp index f61d83032..6e31a7fbe 100644 --- a/roboteam_ai/src/stp/tactics/KeeperBlockBall.cpp +++ b/roboteam_ai/src/stp/tactics/KeeperBlockBall.cpp @@ -33,9 +33,7 @@ std::optional KeeperBlockBall::calculateInfoForSkill(StpInfo const &inf skillStpInfo.setShouldAvoidOutOfField(false); auto targetPosition = calculateTargetPosition(info.getBall().value(), info.getField().value(), info.getEnemyRobot()); - auto maxRobotVelocity = GameStateManager::getCurrentGameState().getRuleSet().getMaxRobotVel(); - auto keeper = skillStpInfo.getRobot()->get(); - int keeperId = GameStateManager::getCurrentGameState().keeperId; + int keeperId = skillStpInfo.getRobot()->get()->getId(); Vector2 newBallPos; InterceptInfo interceptionInfo = PositionComputations::calculateInterceptionInfo(skillStpInfo.getField().value(), skillStpInfo.getCurrentWorld(), keeperId); if (interceptionInfo.interceptId == keeperId) targetPosition.first = interceptionInfo.interceptLocation; diff --git a/roboteam_ai/src/stp/tactics/TestTactic.cpp b/roboteam_ai/src/stp/tactics/TestTactic.cpp index e9447017d..1c6cc1a58 100644 --- a/roboteam_ai/src/stp/tactics/TestTactic.cpp +++ b/roboteam_ai/src/stp/tactics/TestTactic.cpp @@ -1,7 +1,3 @@ -// -// Created by roboteam on 9/3/20. -// - #include "stp/tactics/TestTactic.h" #include "stp/skills/TestSkill.h" diff --git a/roboteam_ai/src/stp/tactics/active/ChipAtPos.cpp b/roboteam_ai/src/stp/tactics/active/ChipAtPos.cpp index 2f95ee34c..f1437d66b 100644 --- a/roboteam_ai/src/stp/tactics/active/ChipAtPos.cpp +++ b/roboteam_ai/src/stp/tactics/active/ChipAtPos.cpp @@ -1,10 +1,3 @@ -// -// Created by timovdk on 3/13/20. -/// Rotates (with dribbler) the robot if needed to target angle then calculates the power to CHIP the BALL with. -// -/// ACTIVE -// - #include "stp/tactics/active/ChipAtPos.h" #include "control/ControlUtils.h" diff --git a/roboteam_ai/src/stp/tactics/active/DriveWithBall.cpp b/roboteam_ai/src/stp/tactics/active/DriveWithBall.cpp index ef220fe36..019b0d825 100644 --- a/roboteam_ai/src/stp/tactics/active/DriveWithBall.cpp +++ b/roboteam_ai/src/stp/tactics/active/DriveWithBall.cpp @@ -1,10 +1,3 @@ -// -// Created by timovdk on 3/16/20. -/// Rotates the target position and drives towards it - -/// ACTIVE -// - #include "stp/tactics/active/DriveWithBall.h" #include "stp/skills/GoToPos.h" diff --git a/roboteam_ai/src/stp/tactics/active/GetBall.cpp b/roboteam_ai/src/stp/tactics/active/GetBall.cpp index 20d3d86e0..c69c2cab6 100644 --- a/roboteam_ai/src/stp/tactics/active/GetBall.cpp +++ b/roboteam_ai/src/stp/tactics/active/GetBall.cpp @@ -1,10 +1,3 @@ -// -// Created by ratoone on 10-03-20. -/// Moves the robot to the BALL in a straight line and ROTATES the robot towards to ball. - -/// ACTIVE -// - #include "stp/tactics/active/GetBall.h" #include @@ -26,7 +19,6 @@ std::optional GetBall::calculateInfoForSkill(StpInfo const &info) noexc if (!skillStpInfo.getRobot() || !skillStpInfo.getBall() || !skillStpInfo.getField() || !skillStpInfo.getCurrentWorld()) return std::nullopt; skillStpInfo.setShouldAvoidBall(false); Vector2 robotPosition = skillStpInfo.getRobot().value()->getPos(); - Vector2 robotVelocity = skillStpInfo.getRobot().value()->getVel(); Vector2 ballPosition = skillStpInfo.getBall().value()->position; Vector2 interceptionPosition = ballPosition; auto maxRobotVelocity = GameStateManager::getCurrentGameState().getRuleSet().getMaxRobotVel(); diff --git a/roboteam_ai/src/stp/tactics/active/GetBehindBallInDirection.cpp b/roboteam_ai/src/stp/tactics/active/GetBehindBallInDirection.cpp index e8b375176..ec8af0126 100644 --- a/roboteam_ai/src/stp/tactics/active/GetBehindBallInDirection.cpp +++ b/roboteam_ai/src/stp/tactics/active/GetBehindBallInDirection.cpp @@ -1,7 +1,3 @@ -// -// Created by jordi on 06-04-20. -// Rebuilt by alexander on 21-12-21 -// #include "stp/tactics/active/GetBehindBallInDirection.h" #include diff --git a/roboteam_ai/src/stp/tactics/active/KickAtPos.cpp b/roboteam_ai/src/stp/tactics/active/KickAtPos.cpp index f0fa227d3..3d227932d 100644 --- a/roboteam_ai/src/stp/tactics/active/KickAtPos.cpp +++ b/roboteam_ai/src/stp/tactics/active/KickAtPos.cpp @@ -1,9 +1,3 @@ -// -// Created by timovdk on 3/12/20. -/// Rotates (with dribbler) the robot if needed to target angle then calculates the power to KICK the BALL with. -/// ACTIVE -// - #include "stp/tactics/active/KickAtPos.h" #include "control/ControlUtils.h" diff --git a/roboteam_ai/src/stp/tactics/active/OrbitKick.cpp b/roboteam_ai/src/stp/tactics/active/OrbitKick.cpp index 82354b87e..1efdc0b2f 100644 --- a/roboteam_ai/src/stp/tactics/active/OrbitKick.cpp +++ b/roboteam_ai/src/stp/tactics/active/OrbitKick.cpp @@ -1,7 +1,3 @@ -// -// Created by tijmen on 01-07-22. -// - #include "stp/tactics/active/OrbitKick.h" #include "control/ControlUtils.h" diff --git a/roboteam_ai/src/stp/tactics/active/Receive.cpp b/roboteam_ai/src/stp/tactics/active/Receive.cpp index cef18dac6..4b3ac3b57 100644 --- a/roboteam_ai/src/stp/tactics/active/Receive.cpp +++ b/roboteam_ai/src/stp/tactics/active/Receive.cpp @@ -1,9 +1,3 @@ -// -// Created by jordi on 13-03-20. - -/// ACTIVE -// - #include "stp/tactics/active/Receive.h" #include "stp/constants/ControlConstants.h" diff --git a/roboteam_ai/src/stp/tactics/passive/BallStandBack.cpp b/roboteam_ai/src/stp/tactics/passive/BallStandBack.cpp index 6fd7d3118..e9896feed 100644 --- a/roboteam_ai/src/stp/tactics/passive/BallStandBack.cpp +++ b/roboteam_ai/src/stp/tactics/passive/BallStandBack.cpp @@ -1,7 +1,3 @@ -// -// Created by agata on 29/06/2022. -// - #include "stp/tactics/passive/BallStandBack.h" #include "stp/skills/GoToPos.h" diff --git a/roboteam_ai/src/stp/tactics/passive/BlockBall.cpp b/roboteam_ai/src/stp/tactics/passive/BlockBall.cpp index 49af68b59..59a9bf17e 100644 --- a/roboteam_ai/src/stp/tactics/passive/BlockBall.cpp +++ b/roboteam_ai/src/stp/tactics/passive/BlockBall.cpp @@ -1,5 +1,3 @@ -/// Places our robot between the ball and a given target position (either enemy robot or position to defend) - #include "stp/tactics/passive/BlockBall.h" #include diff --git a/roboteam_ai/src/stp/tactics/passive/Formation.cpp b/roboteam_ai/src/stp/tactics/passive/Formation.cpp index 3307390a0..88221b7d5 100644 --- a/roboteam_ai/src/stp/tactics/passive/Formation.cpp +++ b/roboteam_ai/src/stp/tactics/passive/Formation.cpp @@ -1,10 +1,3 @@ -// -// Created by timovdk on 3/27/20. -/// Goes to a give POSITION and ROTATEs to face forwards - -/// PASSIVE -// - #include "stp/tactics/passive/Formation.h" #include "stp/skills/GoToPos.h" diff --git a/roboteam_ai/src/stp/tactics/passive/Halt.cpp b/roboteam_ai/src/stp/tactics/passive/Halt.cpp index d204bd5c9..4b9977470 100644 --- a/roboteam_ai/src/stp/tactics/passive/Halt.cpp +++ b/roboteam_ai/src/stp/tactics/passive/Halt.cpp @@ -1,8 +1,3 @@ -// -// Created by jessevw on 24.03.20. -/// ROTATES robot to face forwards -// - #include "stp/tactics/passive/Halt.h" #include "stp/skills/Rotate.h" diff --git a/roboteam_ai/src/utilities/Dealer.cpp b/roboteam_ai/src/utilities/Dealer.cpp index 6c91667aa..9591a091b 100644 --- a/roboteam_ai/src/utilities/Dealer.cpp +++ b/roboteam_ai/src/utilities/Dealer.cpp @@ -244,8 +244,7 @@ double Dealer::getRobotScoreForRole(const std::vector &deale // Get the distance score for a robot to a position when there is a position that role needs to go to double Dealer::getRobotScoreForDistance(const stp::StpInfo &stpInfo, const v::RobotView &robot) { - double distance; - if (stpInfo.getRoleName().find("halt") == std::string::npos && stpInfo.getRoleName() == "keeper") return 0; + if (stpInfo.getRoleName().find("halt") != std::string::npos || stpInfo.getRoleName() == "keeper") return 0; std::optional target_position; // Search for position in getEnemyRobot, getPositionToDefend, and getPositionToMoveTo diff --git a/roboteam_ai/src/utilities/StrategyManager.cpp b/roboteam_ai/src/utilities/StrategyManager.cpp index 16d31f3f2..331615023 100644 --- a/roboteam_ai/src/utilities/StrategyManager.cpp +++ b/roboteam_ai/src/utilities/StrategyManager.cpp @@ -1,7 +1,3 @@ -// -// Created by mrlukasbos on 9-11-18. -// - #include "utilities/StrategyManager.h" #include "stp/constants/ControlConstants.h" diff --git a/roboteam_ai/src/world/Ball.cpp b/roboteam_ai/src/world/Ball.cpp index fb8ae469d..e4907ac8b 100644 --- a/roboteam_ai/src/world/Ball.cpp +++ b/roboteam_ai/src/world/Ball.cpp @@ -1,7 +1,3 @@ -// -// Created by john on 12/18/19. -// - #include "world/Ball.hpp" #include "gui/Out.h" @@ -20,7 +16,7 @@ Ball::Ball(const proto::WorldBall& copy, const World* data) : position{copy.pos( initBallAtExpectedPosition(data); } updateBallAtRobotPosition(data); - updateExpectedBallEndPosition(data); + updateExpectedBallEndPosition(); if (position != Vector2()) { std::array point = {position}; @@ -43,7 +39,7 @@ void Ball::initBallAtExpectedPosition(const world::World* data) noexcept { position = previousWorld->getBall().value()->position; } -void Ball::updateExpectedBallEndPosition(const world::World* data) noexcept { +void Ball::updateExpectedBallEndPosition() noexcept { const double ballVelSquared = velocity.length2(); const double frictionCoefficient = GameSettings::getRobotHubMode() == net::RobotHubMode::SIMULATOR ? ai::stp::control_constants::SIMULATION_FRICTION : ai::stp::control_constants::REAL_FRICTION; diff --git a/roboteam_ai/src/world/Robot.cpp b/roboteam_ai/src/world/Robot.cpp index 3bdafd6a8..775b23579 100644 --- a/roboteam_ai/src/world/Robot.cpp +++ b/roboteam_ai/src/world/Robot.cpp @@ -1,7 +1,3 @@ -// -// Created by john on 12/16/19. -// - #include "world/Robot.hpp" #include "roboteam_utils/Print.h" diff --git a/roboteam_ai/src/world/World.cpp b/roboteam_ai/src/world/World.cpp index e61d15a26..5d2a0758f 100644 --- a/roboteam_ai/src/world/World.cpp +++ b/roboteam_ai/src/world/World.cpp @@ -1,7 +1,3 @@ -// -// Created by john on 12/16/19. -// - #include "world/World.hpp" namespace rtt::world { diff --git a/roboteam_ai/src/world/WorldData.cpp b/roboteam_ai/src/world/WorldData.cpp index 16c5b5e5d..f87adf33d 100644 --- a/roboteam_ai/src/world/WorldData.cpp +++ b/roboteam_ai/src/world/WorldData.cpp @@ -1,7 +1,3 @@ -// -// Created by john on 12/16/19. -// - #include "world/WorldData.hpp" #include "roboteam_utils/Print.h" diff --git a/roboteam_ai/src/world/views/BallView.cpp b/roboteam_ai/src/world/views/BallView.cpp index d325ff8fb..106c7c07d 100644 --- a/roboteam_ai/src/world/views/BallView.cpp +++ b/roboteam_ai/src/world/views/BallView.cpp @@ -1,7 +1,3 @@ -// -// Created by john on 1/13/20. -// - #include "world/views/BallView.hpp" namespace rtt::world::view { diff --git a/roboteam_ai/src/world/views/RobotView.cpp b/roboteam_ai/src/world/views/RobotView.cpp index bf3eacbbd..b71a8481d 100644 --- a/roboteam_ai/src/world/views/RobotView.cpp +++ b/roboteam_ai/src/world/views/RobotView.cpp @@ -1,7 +1,3 @@ -// -// Created by john on 1/14/20. -// - #include "world/views/RobotView.hpp" #include "world/World.hpp" diff --git a/roboteam_ai/src/world/views/WorldDataView.cpp b/roboteam_ai/src/world/views/WorldDataView.cpp index 1a8c86d44..aeb76936f 100644 --- a/roboteam_ai/src/world/views/WorldDataView.cpp +++ b/roboteam_ai/src/world/views/WorldDataView.cpp @@ -1,7 +1,3 @@ -// -// Created by john on 1/6/20. -// - #include "world/views/WorldDataView.hpp" #include "stp/constants/ControlConstants.h" diff --git a/roboteam_ai/test/ControlTests/BBTrajectory/BBTrajectory1DTest.cpp b/roboteam_ai/test/ControlTests/BBTrajectory/BBTrajectory1DTest.cpp index 45764f962..4e42c1d0a 100644 --- a/roboteam_ai/test/ControlTests/BBTrajectory/BBTrajectory1DTest.cpp +++ b/roboteam_ai/test/ControlTests/BBTrajectory/BBTrajectory1DTest.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 26-09-20. -// - #include #include diff --git a/roboteam_ai/test/ControlTests/ControlUtilsTest.cpp b/roboteam_ai/test/ControlTests/ControlUtilsTest.cpp index cf6502a49..2146036a7 100644 --- a/roboteam_ai/test/ControlTests/ControlUtilsTest.cpp +++ b/roboteam_ai/test/ControlTests/ControlUtilsTest.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 05/12/18. -// - #include #include diff --git a/roboteam_ai/test/HelperTests/FieldHelperTest.cpp b/roboteam_ai/test/HelperTests/FieldHelperTest.cpp index 9a9a39a68..386af6253 100644 --- a/roboteam_ai/test/HelperTests/FieldHelperTest.cpp +++ b/roboteam_ai/test/HelperTests/FieldHelperTest.cpp @@ -1,6 +1,3 @@ -// -// Created by alexander on 19-04-22. -// #include #include diff --git a/roboteam_ai/test/PositionScoringTests/PositionScoringTest.cpp b/roboteam_ai/test/PositionScoringTests/PositionScoringTest.cpp index 8e18cc4c9..c9863b55e 100644 --- a/roboteam_ai/test/PositionScoringTests/PositionScoringTest.cpp +++ b/roboteam_ai/test/PositionScoringTests/PositionScoringTest.cpp @@ -1,6 +1,3 @@ -// -// Created by Alexander de Ranitz on 09-02-22. -// #include #include "helpers/FieldHelper.h" diff --git a/roboteam_ai/test/StpTests/CorrectPlayTest.cpp b/roboteam_ai/test/StpTests/CorrectPlayTest.cpp index 41464f5e9..e6bb59dcf 100644 --- a/roboteam_ai/test/StpTests/CorrectPlayTest.cpp +++ b/roboteam_ai/test/StpTests/CorrectPlayTest.cpp @@ -1,6 +1,3 @@ -// -// Created by alexander on 19-04-22. -// #include #include "TestFixtures/TestFixture.h" diff --git a/roboteam_ai/test/StpTests/TacticTests.cpp b/roboteam_ai/test/StpTests/TacticTests.cpp index fda33b9f8..acbcbc320 100644 --- a/roboteam_ai/test/StpTests/TacticTests.cpp +++ b/roboteam_ai/test/StpTests/TacticTests.cpp @@ -1,7 +1,3 @@ -// -// Created by ratoone on 12-03-20. -// - #include #include #include @@ -54,7 +50,6 @@ TEST(TacticTests, nonEndTacticFinishedSuccessful) { info.setField(rtt::Field()); proto::WorldRobot robot_proto; robot_proto.set_id(1); - std::unordered_map updateMap; auto robot = rtt::world::robot::Robot(robot_proto); info.setRobot(rtt::world::view::RobotView(&robot)); @@ -71,7 +66,6 @@ TEST(TacticTests, endTacticWaiting) { info.setField(rtt::Field()); proto::WorldRobot robot_proto; robot_proto.set_id(1); - std::unordered_map updateMap; auto robot = rtt::world::robot::Robot(robot_proto); info.setRobot(rtt::world::view::RobotView(&robot)); @@ -89,7 +83,6 @@ TEST(TacticTests, endTacticFailingCondition) { proto::WorldRobot robot_proto; robot_proto.set_id(1); - std::unordered_map updateMap; auto robot = rtt::world::robot::Robot(robot_proto); info.setRobot(rtt::world::view::RobotView(&robot)); @@ -107,7 +100,6 @@ TEST(TacticTests, isTacticRunningSuccessful) { proto::WorldRobot robot_proto; robot_proto.set_id(1); - std::unordered_map updateMap; auto robot = rtt::world::robot::Robot(robot_proto); info.setRobot(rtt::world::view::RobotView(&robot)); diff --git a/roboteam_ai/test/TestFixtures/TestFixture.h b/roboteam_ai/test/TestFixtures/TestFixture.h index 146a798c6..05b4ea9a6 100644 --- a/roboteam_ai/test/TestFixtures/TestFixture.h +++ b/roboteam_ai/test/TestFixtures/TestFixture.h @@ -1,7 +1,3 @@ -// -// Created by alexander on 28-03-22. -// - #ifndef RTT_TESTFIXTURE_H #define RTT_TESTFIXTURE_H diff --git a/roboteam_ai/test/UtilTests/RefereeTest.cpp b/roboteam_ai/test/UtilTests/RefereeTest.cpp index e4795d509..7057cea2b 100644 --- a/roboteam_ai/test/UtilTests/RefereeTest.cpp +++ b/roboteam_ai/test/UtilTests/RefereeTest.cpp @@ -1,7 +1,3 @@ -// -// Created by mrlukasbos on 14-11-18. -// - #include #include #include diff --git a/roboteam_ai/test/WorldTests/BallTests.cpp b/roboteam_ai/test/WorldTests/BallTests.cpp index d5c17ccc8..987ba46c5 100644 --- a/roboteam_ai/test/WorldTests/BallTests.cpp +++ b/roboteam_ai/test/WorldTests/BallTests.cpp @@ -1,6 +1,3 @@ -// -// Created by john on 1/22/20. -// #include #include "world/Ball.hpp" diff --git a/roboteam_ai/test/WorldTests/FieldComputationTest.cpp b/roboteam_ai/test/WorldTests/FieldComputationTest.cpp index c2b2f5dab..3d3322d0e 100644 --- a/roboteam_ai/test/WorldTests/FieldComputationTest.cpp +++ b/roboteam_ai/test/WorldTests/FieldComputationTest.cpp @@ -1,7 +1,3 @@ -// -// Created by Haico Dorenbos on 20-03-2020 -// - #include #include #include diff --git a/roboteam_ai/test/WorldTests/HistoryRetrievalTest.cpp b/roboteam_ai/test/WorldTests/HistoryRetrievalTest.cpp index 377105129..234cf7e46 100644 --- a/roboteam_ai/test/WorldTests/HistoryRetrievalTest.cpp +++ b/roboteam_ai/test/WorldTests/HistoryRetrievalTest.cpp @@ -1,7 +1,3 @@ -// -// Created by emiel on 12-02-20. -// - #include #include #include diff --git a/roboteam_ai/test/WorldTests/RobotTests.cpp b/roboteam_ai/test/WorldTests/RobotTests.cpp index 7d6ad68f6..5cee10946 100644 --- a/roboteam_ai/test/WorldTests/RobotTests.cpp +++ b/roboteam_ai/test/WorldTests/RobotTests.cpp @@ -1,6 +1,3 @@ -// -// Created by john on 1/22/20. -// #include #include "world/Robot.hpp" diff --git a/roboteam_ai/test/WorldTests/WhichRobotHasBallTest.cpp b/roboteam_ai/test/WorldTests/WhichRobotHasBallTest.cpp index 928a28fc8..7153946f6 100644 --- a/roboteam_ai/test/WorldTests/WhichRobotHasBallTest.cpp +++ b/roboteam_ai/test/WorldTests/WhichRobotHasBallTest.cpp @@ -1,7 +1,3 @@ -// -// Created by emiel on 12-02-20. -// - #include #include diff --git a/roboteam_ai/test/WorldTests/WorldResetTests.cpp b/roboteam_ai/test/WorldTests/WorldResetTests.cpp index a9b579fb7..ae8c7a06d 100644 --- a/roboteam_ai/test/WorldTests/WorldResetTests.cpp +++ b/roboteam_ai/test/WorldTests/WorldResetTests.cpp @@ -1,6 +1,3 @@ -// -// Created by john on 3/2/20. -// #define RUNNING_TEST #include diff --git a/roboteam_ai/test/helpers/FieldHelper.cpp b/roboteam_ai/test/helpers/FieldHelper.cpp index 3d1217946..37b9d5db0 100644 --- a/roboteam_ai/test/helpers/FieldHelper.cpp +++ b/roboteam_ai/test/helpers/FieldHelper.cpp @@ -1,7 +1,3 @@ -// -// Created by robzelluf on 4/16/19. -// - #include "FieldHelper.h" namespace testhelpers { diff --git a/roboteam_ai/test/helpers/FieldHelper.h b/roboteam_ai/test/helpers/FieldHelper.h index ba2a6add7..f59a08c99 100644 --- a/roboteam_ai/test/helpers/FieldHelper.h +++ b/roboteam_ai/test/helpers/FieldHelper.h @@ -1,7 +1,3 @@ -// -// Created by robzelluf on 4/16/19. -// - #ifndef ROBOTEAM_AI_FIELDHELPER_H #define ROBOTEAM_AI_FIELDHELPER_H diff --git a/roboteam_ai/test/helpers/WorldHelper.h b/roboteam_ai/test/helpers/WorldHelper.h index 9a505655e..d3b304e01 100644 --- a/roboteam_ai/test/helpers/WorldHelper.h +++ b/roboteam_ai/test/helpers/WorldHelper.h @@ -1,7 +1,3 @@ -// -// Created by mrlukasbos on 28-1-19. -// - #ifndef ROBOTEAM_AI_WORLDHELPER_H #define ROBOTEAM_AI_WORLDHELPER_H diff --git a/roboteam_autoref b/roboteam_autoref index d7952d77a..b8d5e4d82 160000 --- a/roboteam_autoref +++ b/roboteam_autoref @@ -1 +1 @@ -Subproject commit d7952d77af9f99d2ea4cc6795d0d0b74a5a9dfc6 +Subproject commit b8d5e4d82c722080f2a2500dbad3874cd6ce6fc6 diff --git a/roboteam_logging/include/roboteam_logging/BackLogger.h b/roboteam_logging/include/roboteam_logging/BackLogger.h index 39f9d1d89..e6888eca4 100644 --- a/roboteam_logging/include/roboteam_logging/BackLogger.h +++ b/roboteam_logging/include/roboteam_logging/BackLogger.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 06-06-22. -// - #ifndef RTT_BACKLOGGER_H #define RTT_BACKLOGGER_H diff --git a/roboteam_logging/include/roboteam_logging/LogFileHeader.h b/roboteam_logging/include/roboteam_logging/LogFileHeader.h index 347c17610..b5b492bf5 100644 --- a/roboteam_logging/include/roboteam_logging/LogFileHeader.h +++ b/roboteam_logging/include/roboteam_logging/LogFileHeader.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 28-05-22. -// - #ifndef RTT_LOGFILEHEADER_H #define RTT_LOGFILEHEADER_H diff --git a/roboteam_logging/include/roboteam_logging/LogFileReader.h b/roboteam_logging/include/roboteam_logging/LogFileReader.h index c008d0ac7..948719ec4 100644 --- a/roboteam_logging/include/roboteam_logging/LogFileReader.h +++ b/roboteam_logging/include/roboteam_logging/LogFileReader.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 28-05-22. -// - #ifndef RTT_LOGFILEREADER_H #define RTT_LOGFILEREADER_H diff --git a/roboteam_logging/include/roboteam_logging/LogFileWriter.h b/roboteam_logging/include/roboteam_logging/LogFileWriter.h index 4ae98bcbf..06fa6a80d 100644 --- a/roboteam_logging/include/roboteam_logging/LogFileWriter.h +++ b/roboteam_logging/include/roboteam_logging/LogFileWriter.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 28-05-22. -// - #ifndef RTT_LOGFILEWRITER_H #define RTT_LOGFILEWRITER_H #include diff --git a/roboteam_logging/src/BackLogger.cpp b/roboteam_logging/src/BackLogger.cpp index 49224e42f..d93a75b77 100644 --- a/roboteam_logging/src/BackLogger.cpp +++ b/roboteam_logging/src/BackLogger.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 06-06-22. -// - #include "BackLogger.h" #include "LogFileWriter.h" diff --git a/roboteam_logging/src/LogFileReader.cpp b/roboteam_logging/src/LogFileReader.cpp index 736a1e973..19aa96fbe 100644 --- a/roboteam_logging/src/LogFileReader.cpp +++ b/roboteam_logging/src/LogFileReader.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 28-05-22. -// - #include "LogFileReader.h" // TODO: unify error handling strategy diff --git a/roboteam_logging/src/LogFileWriter.cpp b/roboteam_logging/src/LogFileWriter.cpp index 0a250527d..776d5e982 100644 --- a/roboteam_logging/src/LogFileWriter.cpp +++ b/roboteam_logging/src/LogFileWriter.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 28-05-22. -// - #include "LogFileWriter.h" bool rtt::LogFileWriter::open(const std::string &file_name) { diff --git a/roboteam_logging/test/LoggingTest.cpp b/roboteam_logging/test/LoggingTest.cpp index 83da6f171..a34f3a3e0 100644 --- a/roboteam_logging/test/LoggingTest.cpp +++ b/roboteam_logging/test/LoggingTest.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 28-05-22. -// - #include #include "gtest/gtest.h" diff --git a/roboteam_networking/include/RobotHubMode.h b/roboteam_networking/include/RobotHubMode.h index 118952ead..281be06c8 100644 --- a/roboteam_networking/include/RobotHubMode.h +++ b/roboteam_networking/include/RobotHubMode.h @@ -1,7 +1,3 @@ -// -// Created by Martin Miksik on 03/05/2023. -// - #ifndef RTT_ROBOTHUBMODE_H #define RTT_ROBOTHUBMODE_H diff --git a/roboteam_networking/src/utils/Channels.cpp b/roboteam_networking/src/utils/Channels.cpp index bf2a0994c..71b1b69f5 100644 --- a/roboteam_networking/src/utils/Channels.cpp +++ b/roboteam_networking/src/utils/Channels.cpp @@ -1,4 +1,3 @@ - #include namespace rtt::net::utils { diff --git a/roboteam_world/.gitignore b/roboteam_observer/.gitignore similarity index 100% rename from roboteam_world/.gitignore rename to roboteam_observer/.gitignore diff --git a/roboteam_world/.travis.yml b/roboteam_observer/.travis.yml similarity index 100% rename from roboteam_world/.travis.yml rename to roboteam_observer/.travis.yml diff --git a/roboteam_world/CMakeLists.txt b/roboteam_observer/CMakeLists.txt similarity index 97% rename from roboteam_world/CMakeLists.txt rename to roboteam_observer/CMakeLists.txt index 4bb291d2d..1e9e34f3f 100644 --- a/roboteam_world/CMakeLists.txt +++ b/roboteam_observer/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.22) -project(roboteam_world) +project(roboteam_observer) find_package(Eigen3 REQUIRED) find_package(Qt5 REQUIRED COMPONENTS Network) diff --git a/roboteam_world/include/roboteam_observer/Handler.h b/roboteam_observer/include/roboteam_observer/Handler.h similarity index 100% rename from roboteam_world/include/roboteam_observer/Handler.h rename to roboteam_observer/include/roboteam_observer/Handler.h diff --git a/roboteam_world/include/roboteam_observer/RobocupReceiver.h b/roboteam_observer/include/roboteam_observer/RobocupReceiver.h similarity index 90% rename from roboteam_world/include/roboteam_observer/RobocupReceiver.h rename to roboteam_observer/include/roboteam_observer/RobocupReceiver.h index 1c08ff2b4..eb5e18b73 100644 --- a/roboteam_world/include/roboteam_observer/RobocupReceiver.h +++ b/roboteam_observer/include/roboteam_observer/RobocupReceiver.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 10-06-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_INCLUDE_ROBOTEAM_OBSERVER_ROBOCUPRECEIVER_H_ -#define RTT_ROBOTEAM_WORLD_INCLUDE_ROBOTEAM_OBSERVER_ROBOCUPRECEIVER_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_INCLUDE_ROBOTEAM_OBSERVER_ROBOCUPRECEIVER_H_ +#define RTT_ROBOTEAM_OBSERVER_INCLUDE_ROBOTEAM_OBSERVER_ROBOCUPRECEIVER_H_ #include #include #include @@ -69,4 +65,4 @@ class RobocupReceiver { QUdpSocket* socket; }; -#endif // RTT_ROBOTEAM_WORLD_INCLUDE_ROBOTEAM_OBSERVER_ROBOCUPRECEIVER_H_ +#endif // RTT_ROBOTEAM_OBSERVER_INCLUDE_ROBOTEAM_OBSERVER_ROBOCUPRECEIVER_H_ diff --git a/roboteam_world/observer/CMakeLists.txt b/roboteam_observer/observer/CMakeLists.txt similarity index 100% rename from roboteam_world/observer/CMakeLists.txt rename to roboteam_observer/observer/CMakeLists.txt diff --git a/roboteam_world/observer/include/observer/Observer.h b/roboteam_observer/observer/include/observer/Observer.h similarity index 97% rename from roboteam_world/observer/include/observer/Observer.h rename to roboteam_observer/observer/include/observer/Observer.h index f34fd447d..4e27afb48 100644 --- a/roboteam_world/observer/include/observer/Observer.h +++ b/roboteam_observer/observer/include/observer/Observer.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 19-10-20. -// - #ifndef RTT_OBSERVER_H #define RTT_OBSERVER_H diff --git a/roboteam_world/observer/include/observer/data/RobotParameters.h b/roboteam_observer/observer/include/observer/data/RobotParameters.h similarity index 94% rename from roboteam_world/observer/include/observer/data/RobotParameters.h rename to roboteam_observer/observer/include/observer/data/RobotParameters.h index 08983e9d9..3200068fa 100644 --- a/roboteam_world/observer/include/observer/data/RobotParameters.h +++ b/roboteam_observer/observer/include/observer/data/RobotParameters.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 26-10-20. -// - #ifndef RTT_ROBOTPARAMETERS_H #define RTT_ROBOTPARAMETERS_H diff --git a/roboteam_world/observer/include/observer/filters/referee/RefereeFilter.h b/roboteam_observer/observer/include/observer/filters/referee/RefereeFilter.h similarity index 95% rename from roboteam_world/observer/include/observer/filters/referee/RefereeFilter.h rename to roboteam_observer/observer/include/observer/filters/referee/RefereeFilter.h index 51fdd3911..69b7a6569 100644 --- a/roboteam_world/observer/include/observer/filters/referee/RefereeFilter.h +++ b/roboteam_observer/observer/include/observer/filters/referee/RefereeFilter.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 05-11-20. -// - #ifndef RTT_REFEREEFILTER_H #define RTT_REFEREEFILTER_H diff --git a/roboteam_world/observer/include/observer/filters/vision/Camera.h b/roboteam_observer/observer/include/observer/filters/vision/Camera.h similarity index 99% rename from roboteam_world/observer/include/observer/filters/vision/Camera.h rename to roboteam_observer/observer/include/observer/filters/vision/Camera.h index 04f8e24b4..0fc7d3fed 100644 --- a/roboteam_world/observer/include/observer/filters/vision/Camera.h +++ b/roboteam_observer/observer/include/observer/filters/vision/Camera.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 23-09-21. -// - #ifndef RTT_CAMERA_H #define RTT_CAMERA_H diff --git a/roboteam_world/observer/include/observer/filters/vision/CameraMap.h b/roboteam_observer/observer/include/observer/filters/vision/CameraMap.h similarity index 90% rename from roboteam_world/observer/include/observer/filters/vision/CameraMap.h rename to roboteam_observer/observer/include/observer/filters/vision/CameraMap.h index df6aa877e..1f304bb6b 100644 --- a/roboteam_world/observer/include/observer/filters/vision/CameraMap.h +++ b/roboteam_observer/observer/include/observer/filters/vision/CameraMap.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 23-09-21. -// - #ifndef RTT_CAMERAMAP_H #define RTT_CAMERAMAP_H diff --git a/roboteam_world/observer/include/observer/filters/vision/CameraObjectFilter.h b/roboteam_observer/observer/include/observer/filters/vision/CameraObjectFilter.h similarity index 90% rename from roboteam_world/observer/include/observer/filters/vision/CameraObjectFilter.h rename to roboteam_observer/observer/include/observer/filters/vision/CameraObjectFilter.h index 72be793ae..f6618e306 100644 --- a/roboteam_world/observer/include/observer/filters/vision/CameraObjectFilter.h +++ b/roboteam_observer/observer/include/observer/filters/vision/CameraObjectFilter.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 23-06-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_CAMERAOBJECTFILTER_H_ -#define RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_CAMERAOBJECTFILTER_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_CAMERAOBJECTFILTER_H_ +#define RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_CAMERAOBJECTFILTER_H_ #include @@ -72,4 +68,4 @@ class CameraObjectFilter { double HEALTHY_LIMIT; }; -#endif // RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_CAMERAOBJECTFILTER_H_ +#endif // RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_CAMERAOBJECTFILTER_H_ diff --git a/roboteam_world/observer/include/observer/filters/vision/DetectionFrame.h b/roboteam_observer/observer/include/observer/filters/vision/DetectionFrame.h similarity index 67% rename from roboteam_world/observer/include/observer/filters/vision/DetectionFrame.h rename to roboteam_observer/observer/include/observer/filters/vision/DetectionFrame.h index 3d18ef366..8a703df05 100644 --- a/roboteam_world/observer/include/observer/filters/vision/DetectionFrame.h +++ b/roboteam_observer/observer/include/observer/filters/vision/DetectionFrame.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 29-06-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_DETECTIONFRAME_H_ -#define RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_DETECTIONFRAME_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_DETECTIONFRAME_H_ +#define RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_DETECTIONFRAME_H_ #include #include "ball/BallObservation.h" @@ -19,4 +15,4 @@ struct DetectionFrame { std::vector yellow; }; -#endif // RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_DETECTIONFRAME_H_ +#endif // RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_DETECTIONFRAME_H_ diff --git a/roboteam_world/observer/include/observer/filters/vision/GeometryFilter.h b/roboteam_observer/observer/include/observer/filters/vision/GeometryFilter.h similarity index 96% rename from roboteam_world/observer/include/observer/filters/vision/GeometryFilter.h rename to roboteam_observer/observer/include/observer/filters/vision/GeometryFilter.h index 33a7c582b..74aa78c0f 100644 --- a/roboteam_world/observer/include/observer/filters/vision/GeometryFilter.h +++ b/roboteam_observer/observer/include/observer/filters/vision/GeometryFilter.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 26-10-20. -// - #ifndef RTT_GEOMETRYFILTER_H #define RTT_GEOMETRYFILTER_H diff --git a/roboteam_world/observer/include/observer/filters/vision/KalmanFilter.h b/roboteam_observer/observer/include/observer/filters/vision/KalmanFilter.h similarity index 100% rename from roboteam_world/observer/include/observer/filters/vision/KalmanFilter.h rename to roboteam_observer/observer/include/observer/filters/vision/KalmanFilter.h diff --git a/roboteam_world/observer/include/observer/filters/vision/PosVelFilter1D.h b/roboteam_observer/observer/include/observer/filters/vision/PosVelFilter1D.h similarity index 93% rename from roboteam_world/observer/include/observer/filters/vision/PosVelFilter1D.h rename to roboteam_observer/observer/include/observer/filters/vision/PosVelFilter1D.h index c94327355..4513b6acf 100644 --- a/roboteam_world/observer/include/observer/filters/vision/PosVelFilter1D.h +++ b/roboteam_observer/observer/include/observer/filters/vision/PosVelFilter1D.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 24-06-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_POSVELFILTER1D_H_ -#define RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_POSVELFILTER1D_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_POSVELFILTER1D_H_ +#define RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_POSVELFILTER1D_H_ #include "KalmanFilter.h" #include "roboteam_utils/Time.h" @@ -113,4 +109,4 @@ class PosVelFilter1D { double modelError = 0.0; }; -#endif // RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_POSVELFILTER1D_H_ +#endif // RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_POSVELFILTER1D_H_ diff --git a/roboteam_world/observer/include/observer/filters/vision/PosVelFilter2D.h b/roboteam_observer/observer/include/observer/filters/vision/PosVelFilter2D.h similarity index 93% rename from roboteam_world/observer/include/observer/filters/vision/PosVelFilter2D.h rename to roboteam_observer/observer/include/observer/filters/vision/PosVelFilter2D.h index f536373bc..6a3194598 100644 --- a/roboteam_world/observer/include/observer/filters/vision/PosVelFilter2D.h +++ b/roboteam_observer/observer/include/observer/filters/vision/PosVelFilter2D.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 24-06-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_OBSERVER_INCLUDE_OBSERVER_FILTERS_VISION_POSVELFILTER2D_H_ -#define RTT_ROBOTEAM_WORLD_OBSERVER_INCLUDE_OBSERVER_FILTERS_VISION_POSVELFILTER2D_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_OBSERVER_INCLUDE_OBSERVER_FILTERS_VISION_POSVELFILTER2D_H_ +#define RTT_ROBOTEAM_OBSERVER_OBSERVER_INCLUDE_OBSERVER_FILTERS_VISION_POSVELFILTER2D_H_ #include "KalmanFilter.h" #include "roboteam_utils/Time.h" @@ -121,4 +117,4 @@ class PosVelFilter2D { double modelError = 0.0; }; -#endif // RTT_ROBOTEAM_WORLD_OBSERVER_INCLUDE_OBSERVER_FILTERS_VISION_POSVELFILTER2D_H_ +#endif // RTT_ROBOTEAM_OBSERVER_OBSERVER_INCLUDE_OBSERVER_FILTERS_VISION_POSVELFILTER2D_H_ diff --git a/roboteam_world/observer/include/observer/filters/vision/RobotFeedbackFilter.h b/roboteam_observer/observer/include/observer/filters/vision/RobotFeedbackFilter.h similarity index 95% rename from roboteam_world/observer/include/observer/filters/vision/RobotFeedbackFilter.h rename to roboteam_observer/observer/include/observer/filters/vision/RobotFeedbackFilter.h index 129ac84d7..79fb48a3a 100644 --- a/roboteam_world/observer/include/observer/filters/vision/RobotFeedbackFilter.h +++ b/roboteam_observer/observer/include/observer/filters/vision/RobotFeedbackFilter.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 26-05-22. -// - #ifndef RTT_ROBOTFEEDBACKFILTER_H #define RTT_ROBOTFEEDBACKFILTER_H diff --git a/roboteam_world/observer/include/observer/filters/vision/VisionFilter.h b/roboteam_observer/observer/include/observer/filters/vision/VisionFilter.h similarity index 90% rename from roboteam_world/observer/include/observer/filters/vision/VisionFilter.h rename to roboteam_observer/observer/include/observer/filters/vision/VisionFilter.h index 704027ae5..8024dd02d 100644 --- a/roboteam_world/observer/include/observer/filters/vision/VisionFilter.h +++ b/roboteam_observer/observer/include/observer/filters/vision/VisionFilter.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 23-06-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_VISIONFILTER_H_ -#define RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_VISIONFILTER_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_VISIONFILTER_H_ +#define RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_VISIONFILTER_H_ #include "GeometryFilter.h" #include "WorldFilter.h" #include "proto/messages_robocup_ssl_wrapper.pb.h" @@ -59,4 +55,4 @@ class VisionFilter { TimeExtrapolationPolicy extrapolationPolicy = TimeExtrapolationPolicy::LAST_RECEIVED_PACKET_TIME; }; -#endif // RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_VISIONFILTER_H_ +#endif // RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_VISIONFILTER_H_ diff --git a/roboteam_world/observer/include/observer/filters/vision/WorldFilter.h b/roboteam_observer/observer/include/observer/filters/vision/WorldFilter.h similarity index 95% rename from roboteam_world/observer/include/observer/filters/vision/WorldFilter.h rename to roboteam_observer/observer/include/observer/filters/vision/WorldFilter.h index 78d2ed323..2ca8f9a57 100644 --- a/roboteam_world/observer/include/observer/filters/vision/WorldFilter.h +++ b/roboteam_observer/observer/include/observer/filters/vision/WorldFilter.h @@ -1,5 +1,5 @@ -#ifndef ROBOTEAM_WORLD_KALMANFILTER_H -#define ROBOTEAM_WORLD_KALMANFILTER_H +#ifndef ROBOTEAM_OBSERVER_KALMANFILTER_H +#define ROBOTEAM_OBSERVER_KALMANFILTER_H #include #include @@ -59,4 +59,4 @@ class WorldFilter { static void updateRobotsNotSeen(const DetectionFrame& frame, robotMap& robots); }; -#endif // ROBOTEAM_WORLD_KALMANFILTER_H +#endif // ROBOTEAM_OBSERVER_KALMANFILTER_H diff --git a/roboteam_world/observer/include/observer/filters/vision/ball/BallAssigner.h b/roboteam_observer/observer/include/observer/filters/vision/ball/BallAssigner.h similarity index 83% rename from roboteam_world/observer/include/observer/filters/vision/ball/BallAssigner.h rename to roboteam_observer/observer/include/observer/filters/vision/ball/BallAssigner.h index f11b92943..e29de582c 100644 --- a/roboteam_world/observer/include/observer/filters/vision/ball/BallAssigner.h +++ b/roboteam_observer/observer/include/observer/filters/vision/ball/BallAssigner.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 08-07-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_BALL_BALLASSIGNER_H_ -#define RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_BALL_BALLASSIGNER_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_BALL_BALLASSIGNER_H_ +#define RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_BALL_BALLASSIGNER_H_ #include "BallFilter.h" /** @@ -32,4 +28,4 @@ BallAssignmentResult assign_balls(const std::vector& BallObservation mergeObservationsByArea(const std::vector& observations); } // namespace BallAssigner -#endif // RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_BALL_BALLASSIGNER_H_ +#endif // RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_BALL_BALLASSIGNER_H_ diff --git a/roboteam_world/observer/include/observer/filters/vision/ball/BallFilter.h b/roboteam_observer/observer/include/observer/filters/vision/ball/BallFilter.h similarity index 97% rename from roboteam_world/observer/include/observer/filters/vision/ball/BallFilter.h rename to roboteam_observer/observer/include/observer/filters/vision/ball/BallFilter.h index 5f79657ac..1fad5ecb0 100644 --- a/roboteam_world/observer/include/observer/filters/vision/ball/BallFilter.h +++ b/roboteam_observer/observer/include/observer/filters/vision/ball/BallFilter.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 17-11-19. -// - #ifndef RTT_BALLFILTER_H #define RTT_BALLFILTER_H diff --git a/roboteam_world/observer/include/observer/filters/vision/ball/BallObservation.h b/roboteam_observer/observer/include/observer/filters/vision/ball/BallObservation.h similarity index 75% rename from roboteam_world/observer/include/observer/filters/vision/ball/BallObservation.h rename to roboteam_observer/observer/include/observer/filters/vision/ball/BallObservation.h index 34a93e340..d0c5b808c 100644 --- a/roboteam_world/observer/include/observer/filters/vision/ball/BallObservation.h +++ b/roboteam_observer/observer/include/observer/filters/vision/ball/BallObservation.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 29-06-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_BALL_BALLOBSERVATION_H_ -#define RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_BALL_BALLOBSERVATION_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_BALL_BALLOBSERVATION_H_ +#define RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_BALL_BALLOBSERVATION_H_ #include #include @@ -25,4 +21,4 @@ struct BallObservation { double height; // practically useless, is always the same but we want to keep this }; -#endif // RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_BALL_BALLOBSERVATION_H_ +#endif // RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_BALL_BALLOBSERVATION_H_ diff --git a/roboteam_world/observer/include/observer/filters/vision/ball/CameraGroundBallFilter.h b/roboteam_observer/observer/include/observer/filters/vision/ball/CameraGroundBallFilter.h similarity index 83% rename from roboteam_world/observer/include/observer/filters/vision/ball/CameraGroundBallFilter.h rename to roboteam_observer/observer/include/observer/filters/vision/ball/CameraGroundBallFilter.h index 833a2638f..2290181d5 100644 --- a/roboteam_world/observer/include/observer/filters/vision/ball/CameraGroundBallFilter.h +++ b/roboteam_observer/observer/include/observer/filters/vision/ball/CameraGroundBallFilter.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 23-06-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_BALL_CAMERABALLFILTER_H_ -#define RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_BALL_CAMERABALLFILTER_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_BALL_CAMERABALLFILTER_H_ +#define RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_BALL_CAMERABALLFILTER_H_ #include #include "BallObservation.h" @@ -39,4 +35,4 @@ class CameraGroundBallFilter : public CameraObjectFilter { GroundBallExtendedKalmanFilter ekf; }; -#endif // RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_BALL_CAMERABALLFILTER_H_ +#endif // RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_BALL_CAMERABALLFILTER_H_ diff --git a/roboteam_world/observer/include/observer/filters/vision/ball/FilteredBall.h b/roboteam_observer/observer/include/observer/filters/vision/ball/FilteredBall.h similarity index 63% rename from roboteam_world/observer/include/observer/filters/vision/ball/FilteredBall.h rename to roboteam_observer/observer/include/observer/filters/vision/ball/FilteredBall.h index ab5a94738..7d1138937 100644 --- a/roboteam_world/observer/include/observer/filters/vision/ball/FilteredBall.h +++ b/roboteam_observer/observer/include/observer/filters/vision/ball/FilteredBall.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 05-07-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_BALL_FILTEREDBALL_H_ -#define RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_BALL_FILTEREDBALL_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_BALL_FILTEREDBALL_H_ +#define RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_BALL_FILTEREDBALL_H_ #include @@ -19,4 +15,4 @@ struct FilteredBall { double velocityUncertainty; }; -#endif // RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_BALL_FILTEREDBALL_H_ +#endif // RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_BALL_FILTEREDBALL_H_ diff --git a/roboteam_world/observer/include/observer/filters/vision/ball/GroundBallExtendedKalmanFilter.h b/roboteam_observer/observer/include/observer/filters/vision/ball/GroundBallExtendedKalmanFilter.h similarity index 91% rename from roboteam_world/observer/include/observer/filters/vision/ball/GroundBallExtendedKalmanFilter.h rename to roboteam_observer/observer/include/observer/filters/vision/ball/GroundBallExtendedKalmanFilter.h index 3c608a6c4..6939e731e 100644 --- a/roboteam_world/observer/include/observer/filters/vision/ball/GroundBallExtendedKalmanFilter.h +++ b/roboteam_observer/observer/include/observer/filters/vision/ball/GroundBallExtendedKalmanFilter.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 29-06-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_BALL_GROUNDBALLEXTENDEDKALMANFILTER_H_ -#define RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_BALL_GROUNDBALLEXTENDEDKALMANFILTER_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_BALL_GROUNDBALLEXTENDEDKALMANFILTER_H_ +#define RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_BALL_GROUNDBALLEXTENDEDKALMANFILTER_H_ #include @@ -61,4 +57,4 @@ class GroundBallExtendedKalmanFilter { Eigen::Vector2d y; // Innovation. Not strictly necessary to store but often used to measure performance of the filter }; -#endif // RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_BALL_GROUNDBALLEXTENDEDKALMANFILTER_H_ +#endif // RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_BALL_GROUNDBALLEXTENDEDKALMANFILTER_H_ diff --git a/roboteam_world/observer/include/observer/filters/vision/robot/CameraRobotFilter.h b/roboteam_observer/observer/include/observer/filters/vision/robot/CameraRobotFilter.h similarity index 83% rename from roboteam_world/observer/include/observer/filters/vision/robot/CameraRobotFilter.h rename to roboteam_observer/observer/include/observer/filters/vision/robot/CameraRobotFilter.h index bb67bfdb5..6f636e625 100644 --- a/roboteam_world/observer/include/observer/filters/vision/robot/CameraRobotFilter.h +++ b/roboteam_observer/observer/include/observer/filters/vision/robot/CameraRobotFilter.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 23-06-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_CAMERAROBOTFILTER_H_ -#define RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_CAMERAROBOTFILTER_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_CAMERAROBOTFILTER_H_ +#define RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_CAMERAROBOTFILTER_H_ #include "FilteredRobot.h" #include "RobotObservation.h" @@ -45,4 +41,4 @@ class CameraRobotFilter : public CameraObjectFilter { Time previousTime; }; -#endif // RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_CAMERAROBOTFILTER_H_ +#endif // RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_CAMERAROBOTFILTER_H_ diff --git a/roboteam_world/observer/include/observer/filters/vision/robot/FilteredRobot.h b/roboteam_observer/observer/include/observer/filters/vision/robot/FilteredRobot.h similarity index 83% rename from roboteam_world/observer/include/observer/filters/vision/robot/FilteredRobot.h rename to roboteam_observer/observer/include/observer/filters/vision/robot/FilteredRobot.h index b8366d60f..10280c260 100644 --- a/roboteam_world/observer/include/observer/filters/vision/robot/FilteredRobot.h +++ b/roboteam_observer/observer/include/observer/filters/vision/robot/FilteredRobot.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 24-06-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_ROBOT_FILTEREDROBOT_H_ -#define RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_ROBOT_FILTEREDROBOT_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_ROBOT_FILTEREDROBOT_H_ +#define RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_ROBOT_FILTEREDROBOT_H_ #include @@ -40,4 +36,4 @@ struct FilteredRobot { double angularVelUncertainty; }; -#endif // RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_ROBOT_FILTEREDROBOT_H_ +#endif // RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_ROBOT_FILTEREDROBOT_H_ diff --git a/roboteam_world/observer/include/observer/filters/vision/robot/RobotFilter.h b/roboteam_observer/observer/include/observer/filters/vision/robot/RobotFilter.h similarity index 98% rename from roboteam_world/observer/include/observer/filters/vision/robot/RobotFilter.h rename to roboteam_observer/observer/include/observer/filters/vision/robot/RobotFilter.h index 64f7a9a36..1ef87a9df 100644 --- a/roboteam_world/observer/include/observer/filters/vision/robot/RobotFilter.h +++ b/roboteam_observer/observer/include/observer/filters/vision/robot/RobotFilter.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 05-11-19. -// - #ifndef RTT_ROBOTFILTER_H #define RTT_ROBOTFILTER_H diff --git a/roboteam_world/observer/include/observer/filters/vision/robot/RobotObservation.h b/roboteam_observer/observer/include/observer/filters/vision/robot/RobotObservation.h similarity index 78% rename from roboteam_world/observer/include/observer/filters/vision/robot/RobotObservation.h rename to roboteam_observer/observer/include/observer/filters/vision/robot/RobotObservation.h index 7ce3bdb1b..3114090de 100644 --- a/roboteam_world/observer/include/observer/filters/vision/robot/RobotObservation.h +++ b/roboteam_observer/observer/include/observer/filters/vision/robot/RobotObservation.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 24-06-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTOBSERVATION_H_ -#define RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTOBSERVATION_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTOBSERVATION_H_ +#define RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTOBSERVATION_H_ #include #include @@ -33,4 +29,4 @@ struct RobotObservation { double height; }; -#endif // RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTOBSERVATION_H_ +#endif // RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTOBSERVATION_H_ diff --git a/roboteam_world/observer/include/observer/filters/vision/robot/RobotOrientationFilter.h b/roboteam_observer/observer/include/observer/filters/vision/robot/RobotOrientationFilter.h similarity index 80% rename from roboteam_world/observer/include/observer/filters/vision/robot/RobotOrientationFilter.h rename to roboteam_observer/observer/include/observer/filters/vision/robot/RobotOrientationFilter.h index c9a43357f..8b63b8448 100644 --- a/roboteam_world/observer/include/observer/filters/vision/robot/RobotOrientationFilter.h +++ b/roboteam_observer/observer/include/observer/filters/vision/robot/RobotOrientationFilter.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 24-06-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTORIENTATIONFILTER_H_ -#define RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTORIENTATIONFILTER_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTORIENTATIONFILTER_H_ +#define RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTORIENTATIONFILTER_H_ #include "observer/filters/vision/PosVelFilter1D.h" @@ -36,4 +32,4 @@ class RobotOrientationFilter : public PosVelFilter1D { [[nodiscard]] static double limitAngle(double angle); }; -#endif // RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTORIENTATIONFILTER_H_ +#endif // RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTORIENTATIONFILTER_H_ diff --git a/roboteam_world/observer/include/observer/filters/vision/robot/RobotPos.h b/roboteam_observer/observer/include/observer/filters/vision/robot/RobotPos.h similarity index 88% rename from roboteam_world/observer/include/observer/filters/vision/robot/RobotPos.h rename to roboteam_observer/observer/include/observer/filters/vision/robot/RobotPos.h index b2f8faa0d..c4503a87b 100644 --- a/roboteam_world/observer/include/observer/filters/vision/robot/RobotPos.h +++ b/roboteam_observer/observer/include/observer/filters/vision/robot/RobotPos.h @@ -1,9 +1,5 @@ -// -// Created by rolf on 24-06-21. -// - -#ifndef RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTPOS_H_ -#define RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTPOS_H_ +#ifndef RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTPOS_H_ +#define RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTPOS_H_ #include @@ -57,4 +53,4 @@ struct TeamRobotID { RobotID robot_id; TeamColor team; }; -#endif // RTT_ROBOTEAM_WORLD_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTPOS_H_ +#endif // RTT_ROBOTEAM_OBSERVER_OBSERVER_SRC_FILTERS_VISION_ROBOT_ROBOTPOS_H_ diff --git a/roboteam_world/observer/include/observer/parameters/RobotParameterDatabase.h b/roboteam_observer/observer/include/observer/parameters/RobotParameterDatabase.h similarity index 95% rename from roboteam_world/observer/include/observer/parameters/RobotParameterDatabase.h rename to roboteam_observer/observer/include/observer/parameters/RobotParameterDatabase.h index fc12f2906..3484f8b89 100644 --- a/roboteam_world/observer/include/observer/parameters/RobotParameterDatabase.h +++ b/roboteam_observer/observer/include/observer/parameters/RobotParameterDatabase.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 21-10-20. -// - #ifndef RTT_ROBOTPARAMETERDATABASE_H #define RTT_ROBOTPARAMETERDATABASE_H #include diff --git a/roboteam_world/observer/src/Observer.cpp b/roboteam_observer/observer/src/Observer.cpp similarity index 98% rename from roboteam_world/observer/src/Observer.cpp rename to roboteam_observer/observer/src/Observer.cpp index d051684b6..86dbc7a86 100644 --- a/roboteam_world/observer/src/Observer.cpp +++ b/roboteam_observer/observer/src/Observer.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 19-10-20. -// - #include "Observer.h" #include diff --git a/roboteam_world/observer/src/data/RobotParameters.cpp b/roboteam_observer/observer/src/data/RobotParameters.cpp similarity index 97% rename from roboteam_world/observer/src/data/RobotParameters.cpp rename to roboteam_observer/observer/src/data/RobotParameters.cpp index 0954d7a12..815a1ce33 100644 --- a/roboteam_world/observer/src/data/RobotParameters.cpp +++ b/roboteam_observer/observer/src/data/RobotParameters.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 26-10-20. -// - #include "../../include/observer/data/RobotParameters.h" RobotParameters RobotParameters::from_default() { diff --git a/roboteam_world/observer/src/filters/Scaling.h b/roboteam_observer/observer/src/filters/Scaling.h similarity index 77% rename from roboteam_world/observer/src/filters/Scaling.h rename to roboteam_observer/observer/src/filters/Scaling.h index 8b8bc7d16..a9e68b1cb 100644 --- a/roboteam_world/observer/src/filters/Scaling.h +++ b/roboteam_observer/observer/src/filters/Scaling.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 16-11-19. -// - #ifndef RTT_SCALING_H #define RTT_SCALING_H diff --git a/roboteam_world/observer/src/filters/referee/RefereeFilter.cpp b/roboteam_observer/observer/src/filters/referee/RefereeFilter.cpp similarity index 94% rename from roboteam_world/observer/src/filters/referee/RefereeFilter.cpp rename to roboteam_observer/observer/src/filters/referee/RefereeFilter.cpp index 1ac3a6b8e..57f310bb2 100644 --- a/roboteam_world/observer/src/filters/referee/RefereeFilter.cpp +++ b/roboteam_observer/observer/src/filters/referee/RefereeFilter.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 05-11-20. -// - #include "filters/referee/RefereeFilter.h" void RefereeFilter::process(const std::vector &refereePackets) { diff --git a/roboteam_world/observer/src/filters/vision/Camera.cpp b/roboteam_observer/observer/src/filters/vision/Camera.cpp similarity index 99% rename from roboteam_world/observer/src/filters/vision/Camera.cpp rename to roboteam_observer/observer/src/filters/vision/Camera.cpp index 28966b8d9..65c52e7f9 100644 --- a/roboteam_world/observer/src/filters/vision/Camera.cpp +++ b/roboteam_observer/observer/src/filters/vision/Camera.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 23-09-21. -// - #include "filters/vision/Camera.h" #include diff --git a/roboteam_world/observer/src/filters/vision/CameraMap.cpp b/roboteam_observer/observer/src/filters/vision/CameraMap.cpp similarity index 89% rename from roboteam_world/observer/src/filters/vision/CameraMap.cpp rename to roboteam_observer/observer/src/filters/vision/CameraMap.cpp index d636aa414..c5ddeaf8f 100644 --- a/roboteam_world/observer/src/filters/vision/CameraMap.cpp +++ b/roboteam_observer/observer/src/filters/vision/CameraMap.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 23-09-21. -// - #include "filters/vision/CameraMap.h" void CameraMap::addCamera(const Camera &camera) { map.insert({camera.getID(), camera}); } diff --git a/roboteam_world/observer/src/filters/vision/CameraObjectFilter.cpp b/roboteam_observer/observer/src/filters/vision/CameraObjectFilter.cpp similarity index 97% rename from roboteam_world/observer/src/filters/vision/CameraObjectFilter.cpp rename to roboteam_observer/observer/src/filters/vision/CameraObjectFilter.cpp index ce54ca9ab..2fdddeff1 100644 --- a/roboteam_world/observer/src/filters/vision/CameraObjectFilter.cpp +++ b/roboteam_observer/observer/src/filters/vision/CameraObjectFilter.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 23-06-21. -// - #include "filters/vision/CameraObjectFilter.h" #include diff --git a/roboteam_world/observer/src/filters/vision/DetectionFrame.cpp b/roboteam_observer/observer/src/filters/vision/DetectionFrame.cpp similarity index 94% rename from roboteam_world/observer/src/filters/vision/DetectionFrame.cpp rename to roboteam_observer/observer/src/filters/vision/DetectionFrame.cpp index 1a8f09aab..d35e5e288 100644 --- a/roboteam_world/observer/src/filters/vision/DetectionFrame.cpp +++ b/roboteam_observer/observer/src/filters/vision/DetectionFrame.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 29-06-21. -// - #include "filters/vision/DetectionFrame.h" DetectionFrame::DetectionFrame(const proto::SSL_DetectionFrame& protoFrame) : cameraID(protoFrame.camera_id()), timeCaptured{protoFrame.t_capture()}, timeSent{protoFrame.t_sent()} { diff --git a/roboteam_world/observer/src/filters/vision/GeometryFilter.cpp b/roboteam_observer/observer/src/filters/vision/GeometryFilter.cpp similarity index 97% rename from roboteam_world/observer/src/filters/vision/GeometryFilter.cpp rename to roboteam_observer/observer/src/filters/vision/GeometryFilter.cpp index 7ec4e7f7a..63793f6d8 100644 --- a/roboteam_world/observer/src/filters/vision/GeometryFilter.cpp +++ b/roboteam_observer/observer/src/filters/vision/GeometryFilter.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 26-10-20. -// - #include "filters/vision/GeometryFilter.h" bool GeometryFilter::process(const proto::SSL_GeometryData& geometryData) { diff --git a/roboteam_world/observer/src/filters/vision/PosVelFilter1D.cpp b/roboteam_observer/observer/src/filters/vision/PosVelFilter1D.cpp similarity index 98% rename from roboteam_world/observer/src/filters/vision/PosVelFilter1D.cpp rename to roboteam_observer/observer/src/filters/vision/PosVelFilter1D.cpp index c7daa5f95..a53d55df0 100644 --- a/roboteam_world/observer/src/filters/vision/PosVelFilter1D.cpp +++ b/roboteam_observer/observer/src/filters/vision/PosVelFilter1D.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 24-06-21. -// - #include "filters/vision/PosVelFilter1D.h" bool PosVelFilter1D::predict(const Time &timeStamp) { diff --git a/roboteam_world/observer/src/filters/vision/PosVelFilter2D.cpp b/roboteam_observer/observer/src/filters/vision/PosVelFilter2D.cpp similarity index 99% rename from roboteam_world/observer/src/filters/vision/PosVelFilter2D.cpp rename to roboteam_observer/observer/src/filters/vision/PosVelFilter2D.cpp index 3fe7b0718..197276c48 100644 --- a/roboteam_world/observer/src/filters/vision/PosVelFilter2D.cpp +++ b/roboteam_observer/observer/src/filters/vision/PosVelFilter2D.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 24-06-21. -// - #include "filters/vision/PosVelFilter2D.h" bool PosVelFilter2D::predict(const Time &timeStamp) { diff --git a/roboteam_world/observer/src/filters/vision/RobotFeedbackFilter.cpp b/roboteam_observer/observer/src/filters/vision/RobotFeedbackFilter.cpp similarity index 98% rename from roboteam_world/observer/src/filters/vision/RobotFeedbackFilter.cpp rename to roboteam_observer/observer/src/filters/vision/RobotFeedbackFilter.cpp index 729f6fc59..f716503ef 100644 --- a/roboteam_world/observer/src/filters/vision/RobotFeedbackFilter.cpp +++ b/roboteam_observer/observer/src/filters/vision/RobotFeedbackFilter.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 26-05-22. -// - #include "filters/vision/RobotFeedbackFilter.h" void RobotFeedbackFilter::process(const std::vector& feedback) { diff --git a/roboteam_world/observer/src/filters/vision/VisionFilter.cpp b/roboteam_observer/observer/src/filters/vision/VisionFilter.cpp similarity index 98% rename from roboteam_world/observer/src/filters/vision/VisionFilter.cpp rename to roboteam_observer/observer/src/filters/vision/VisionFilter.cpp index aebc886fc..058aceccf 100644 --- a/roboteam_world/observer/src/filters/vision/VisionFilter.cpp +++ b/roboteam_observer/observer/src/filters/vision/VisionFilter.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 23-06-21. -// - #include "filters/vision/VisionFilter.h" proto::World VisionFilter::process(const std::vector& packets, const std::vector& robotData) { processGeometry(packets); diff --git a/roboteam_world/observer/src/filters/vision/WorldFilter.cpp b/roboteam_observer/observer/src/filters/vision/WorldFilter.cpp similarity index 99% rename from roboteam_world/observer/src/filters/vision/WorldFilter.cpp rename to roboteam_observer/observer/src/filters/vision/WorldFilter.cpp index 4ecf7b247..68dafc3ed 100644 --- a/roboteam_world/observer/src/filters/vision/WorldFilter.cpp +++ b/roboteam_observer/observer/src/filters/vision/WorldFilter.cpp @@ -1,7 +1,3 @@ -// -// Created by kjhertenberg on 13-5-19. -// - #include "filters/vision/WorldFilter.h" #include "filters/vision/ball/BallAssigner.h" diff --git a/roboteam_world/observer/src/filters/vision/ball/BallAssigner.cpp b/roboteam_observer/observer/src/filters/vision/ball/BallAssigner.cpp similarity index 99% rename from roboteam_world/observer/src/filters/vision/ball/BallAssigner.cpp rename to roboteam_observer/observer/src/filters/vision/ball/BallAssigner.cpp index 4244b966b..4a5329074 100644 --- a/roboteam_world/observer/src/filters/vision/ball/BallAssigner.cpp +++ b/roboteam_observer/observer/src/filters/vision/ball/BallAssigner.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 08-07-21. -// - #include "observer/filters/vision/ball/BallAssigner.h" #include diff --git a/roboteam_world/observer/src/filters/vision/ball/BallFilter.cpp b/roboteam_observer/observer/src/filters/vision/ball/BallFilter.cpp similarity index 98% rename from roboteam_world/observer/src/filters/vision/ball/BallFilter.cpp rename to roboteam_observer/observer/src/filters/vision/ball/BallFilter.cpp index 3f1b7b43f..c68e0f25f 100644 --- a/roboteam_world/observer/src/filters/vision/ball/BallFilter.cpp +++ b/roboteam_observer/observer/src/filters/vision/ball/BallFilter.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 17-11-19. -// - #include "filters/vision/ball/BallFilter.h" #include diff --git a/roboteam_world/observer/src/filters/vision/ball/BallObservation.cpp b/roboteam_observer/observer/src/filters/vision/ball/BallObservation.cpp similarity index 96% rename from roboteam_world/observer/src/filters/vision/ball/BallObservation.cpp rename to roboteam_observer/observer/src/filters/vision/ball/BallObservation.cpp index 79a88c494..0f401b3e3 100644 --- a/roboteam_world/observer/src/filters/vision/ball/BallObservation.cpp +++ b/roboteam_observer/observer/src/filters/vision/ball/BallObservation.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 29-06-21. -// - #include "filters/vision/ball/BallObservation.h" #include diff --git a/roboteam_world/observer/src/filters/vision/ball/CameraGroundBallFilter.cpp b/roboteam_observer/observer/src/filters/vision/ball/CameraGroundBallFilter.cpp similarity index 98% rename from roboteam_world/observer/src/filters/vision/ball/CameraGroundBallFilter.cpp rename to roboteam_observer/observer/src/filters/vision/ball/CameraGroundBallFilter.cpp index 68763c123..436b0882e 100644 --- a/roboteam_world/observer/src/filters/vision/ball/CameraGroundBallFilter.cpp +++ b/roboteam_observer/observer/src/filters/vision/ball/CameraGroundBallFilter.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 23-06-21. -// - #include #include diff --git a/roboteam_world/observer/src/filters/vision/ball/FilteredBall.cpp b/roboteam_observer/observer/src/filters/vision/ball/FilteredBall.cpp similarity index 95% rename from roboteam_world/observer/src/filters/vision/ball/FilteredBall.cpp rename to roboteam_observer/observer/src/filters/vision/ball/FilteredBall.cpp index d602a21a0..70080a4c5 100644 --- a/roboteam_world/observer/src/filters/vision/ball/FilteredBall.cpp +++ b/roboteam_observer/observer/src/filters/vision/ball/FilteredBall.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 05-07-21. -// - #include "filters/vision/ball/FilteredBall.h" #include diff --git a/roboteam_world/observer/src/filters/vision/ball/GroundBallExtendedKalmanFilter.cpp b/roboteam_observer/observer/src/filters/vision/ball/GroundBallExtendedKalmanFilter.cpp similarity index 99% rename from roboteam_world/observer/src/filters/vision/ball/GroundBallExtendedKalmanFilter.cpp rename to roboteam_observer/observer/src/filters/vision/ball/GroundBallExtendedKalmanFilter.cpp index e810b53c9..585a78e5f 100644 --- a/roboteam_world/observer/src/filters/vision/ball/GroundBallExtendedKalmanFilter.cpp +++ b/roboteam_observer/observer/src/filters/vision/ball/GroundBallExtendedKalmanFilter.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 29-06-21. -// - #include "filters/vision/ball/GroundBallExtendedKalmanFilter.h" #include diff --git a/roboteam_world/observer/src/filters/vision/robot/CameraRobotFilter.cpp b/roboteam_observer/observer/src/filters/vision/robot/CameraRobotFilter.cpp similarity index 99% rename from roboteam_world/observer/src/filters/vision/robot/CameraRobotFilter.cpp rename to roboteam_observer/observer/src/filters/vision/robot/CameraRobotFilter.cpp index 058fb3bf8..b8ebee4bc 100644 --- a/roboteam_world/observer/src/filters/vision/robot/CameraRobotFilter.cpp +++ b/roboteam_observer/observer/src/filters/vision/robot/CameraRobotFilter.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 23-06-21. -// - #include "filters/vision/robot/CameraRobotFilter.h" CameraRobotFilter::CameraRobotFilter(const RobotObservation &observation, RobotVel velocityEstimate) diff --git a/roboteam_world/observer/src/filters/vision/robot/FilteredRobot.cpp b/roboteam_observer/observer/src/filters/vision/robot/FilteredRobot.cpp similarity index 55% rename from roboteam_world/observer/src/filters/vision/robot/FilteredRobot.cpp rename to roboteam_observer/observer/src/filters/vision/robot/FilteredRobot.cpp index 220304a77..bfc002067 100644 --- a/roboteam_world/observer/src/filters/vision/robot/FilteredRobot.cpp +++ b/roboteam_observer/observer/src/filters/vision/robot/FilteredRobot.cpp @@ -1,5 +1 @@ -// -// Created by rolf on 24-06-21. -// - #include "filters/vision/robot/FilteredRobot.h" diff --git a/roboteam_world/observer/src/filters/vision/robot/RobotFilter.cpp b/roboteam_observer/observer/src/filters/vision/robot/RobotFilter.cpp similarity index 98% rename from roboteam_world/observer/src/filters/vision/robot/RobotFilter.cpp rename to roboteam_observer/observer/src/filters/vision/robot/RobotFilter.cpp index ffe75b4f9..2d55a9ed7 100644 --- a/roboteam_world/observer/src/filters/vision/robot/RobotFilter.cpp +++ b/roboteam_observer/observer/src/filters/vision/robot/RobotFilter.cpp @@ -1,11 +1,3 @@ -// -// Created by rolf on 05-11-19. -// - -// -// Created by rolf on 05-08-20. -// - #include "filters/vision/robot/RobotFilter.h" bool RobotFilter::processDetection(const RobotObservation &observation) { diff --git a/roboteam_world/observer/src/filters/vision/robot/RobotObservation.cpp b/roboteam_observer/observer/src/filters/vision/robot/RobotObservation.cpp similarity index 57% rename from roboteam_world/observer/src/filters/vision/robot/RobotObservation.cpp rename to roboteam_observer/observer/src/filters/vision/robot/RobotObservation.cpp index 3fa33c50f..b4a13a54b 100644 --- a/roboteam_world/observer/src/filters/vision/robot/RobotObservation.cpp +++ b/roboteam_observer/observer/src/filters/vision/robot/RobotObservation.cpp @@ -1,4 +1 @@ -// -// Created by rolf on 24-06-21. -// #include "filters/vision/robot/RobotObservation.h" diff --git a/roboteam_world/observer/src/filters/vision/robot/RobotOrientationFilter.cpp b/roboteam_observer/observer/src/filters/vision/robot/RobotOrientationFilter.cpp similarity index 97% rename from roboteam_world/observer/src/filters/vision/robot/RobotOrientationFilter.cpp rename to roboteam_observer/observer/src/filters/vision/robot/RobotOrientationFilter.cpp index e4d4be865..1616e52f5 100644 --- a/roboteam_world/observer/src/filters/vision/robot/RobotOrientationFilter.cpp +++ b/roboteam_observer/observer/src/filters/vision/robot/RobotOrientationFilter.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 24-06-21. -// - #include "filters/vision/robot/RobotOrientationFilter.h" RobotOrientationFilter::RobotOrientationFilter(const Eigen::Vector2d &initialState, const Eigen::Matrix2d &initialCovariance, double modelError, double measurementError, const Time &timeStamp) diff --git a/roboteam_world/observer/src/filters/vision/robot/RobotPos.cpp b/roboteam_observer/observer/src/filters/vision/robot/RobotPos.cpp similarity index 52% rename from roboteam_world/observer/src/filters/vision/robot/RobotPos.cpp rename to roboteam_observer/observer/src/filters/vision/robot/RobotPos.cpp index d22ec28da..ad3616d8c 100644 --- a/roboteam_world/observer/src/filters/vision/robot/RobotPos.cpp +++ b/roboteam_observer/observer/src/filters/vision/robot/RobotPos.cpp @@ -1,5 +1 @@ -// -// Created by rolf on 24-06-21. -// - #include "filters/vision/robot/RobotPos.h" diff --git a/roboteam_world/observer/src/parameters/RobotParameterDatabase.cpp b/roboteam_observer/observer/src/parameters/RobotParameterDatabase.cpp similarity index 98% rename from roboteam_world/observer/src/parameters/RobotParameterDatabase.cpp rename to roboteam_observer/observer/src/parameters/RobotParameterDatabase.cpp index 36676d949..08c1d380c 100644 --- a/roboteam_world/observer/src/parameters/RobotParameterDatabase.cpp +++ b/roboteam_observer/observer/src/parameters/RobotParameterDatabase.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 21-10-20. -// - #include "parameters/RobotParameterDatabase.h" TwoTeamRobotParameters RobotParameterDatabase::update(const proto::Referee &refMessage) { diff --git a/roboteam_world/observer/test/KalmanFilterTest.cpp b/roboteam_observer/observer/test/KalmanFilterTest.cpp similarity index 92% rename from roboteam_world/observer/test/KalmanFilterTest.cpp rename to roboteam_observer/observer/test/KalmanFilterTest.cpp index 2fc457b70..79c492489 100644 --- a/roboteam_world/observer/test/KalmanFilterTest.cpp +++ b/roboteam_observer/observer/test/KalmanFilterTest.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 22-11-19. -// - #include #include @@ -25,7 +21,7 @@ TEST(OneDimension, KalmanFilterTest) { ASSERT_DOUBLE_EQ(filter.basestate()[0], 60.0); ASSERT_DOUBLE_EQ(filter.state()[0], filter.basestate()[0]); // the series of measurements - double measurements[10] = {48.54, 47.11, 55.01, 55.15, 49.89, 40.85, 46.72, 50.05, 51.27, 49.95}; + const double measurements[10] = {48.54, 47.11, 55.01, 55.15, 49.89, 40.85, 46.72, 50.05, 51.27, 49.95}; // What our kalman filter should output after each update predict cycle. double outputs[10] = {49.69, 48.47, 50.57, 51.68, 51.33, 49.62, 49.21, 49.31, 49.53, 49.57}; for (int i = 0; i < 10; ++i) { diff --git a/roboteam_world/observer/test/main.cpp b/roboteam_observer/observer/test/main.cpp similarity index 100% rename from roboteam_world/observer/test/main.cpp rename to roboteam_observer/observer/test/main.cpp diff --git a/roboteam_world/readme.md b/roboteam_observer/readme.md similarity index 100% rename from roboteam_world/readme.md rename to roboteam_observer/readme.md diff --git a/roboteam_world/src/Handler.cpp b/roboteam_observer/src/Handler.cpp similarity index 99% rename from roboteam_world/src/Handler.cpp rename to roboteam_observer/src/Handler.cpp index 18b5d18bd..c51ff379d 100644 --- a/roboteam_world/src/Handler.cpp +++ b/roboteam_observer/src/Handler.cpp @@ -75,7 +75,7 @@ void Handler::start(std::string visionip, std::string refereeip, int visionport, std::cout << "/"; else if (no_vision_received % 200 < 150) std::cout << "-"; - else if (no_vision_received % 200 < 200) + else std::cout << "\\"; std::cout << std::flush; } diff --git a/roboteam_world/src/main.cpp b/roboteam_observer/src/main.cpp similarity index 100% rename from roboteam_world/src/main.cpp rename to roboteam_observer/src/main.cpp diff --git a/roboteam_world/src/replayLog.cpp b/roboteam_observer/src/replayLog.cpp similarity index 93% rename from roboteam_world/src/replayLog.cpp rename to roboteam_observer/src/replayLog.cpp index ddaeea669..330f1b17b 100644 --- a/roboteam_world/src/replayLog.cpp +++ b/roboteam_observer/src/replayLog.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 14-5-23. -// - #include #include "Handler.h" diff --git a/roboteam_robothub/CMakeLists.txt b/roboteam_robothub/CMakeLists.txt index 3db856f44..52351c546 100644 --- a/roboteam_robothub/CMakeLists.txt +++ b/roboteam_robothub/CMakeLists.txt @@ -13,8 +13,6 @@ endif() find_package(Qt5Network REQUIRED) -set(CMAKE_THREAD_PREFER_PTHREAD TRUE) -set(THREADS_PREFER_PTHREAD_FLAG TRUE) find_package(Threads REQUIRED) # Generate the proto files for the simulator manager diff --git a/roboteam_robothub/include/basestation/LibusbUtilities.h b/roboteam_robothub/include/basestation/LibusbUtilities.h index 7916a4110..657e4d90c 100644 --- a/roboteam_robothub/include/basestation/LibusbUtilities.h +++ b/roboteam_robothub/include/basestation/LibusbUtilities.h @@ -1,4 +1,3 @@ -// Created by emiel on 21-05-21. #pragma once #include diff --git a/roboteam_robothub/include/simulation/SimulatorManager.hpp b/roboteam_robothub/include/simulation/SimulatorManager.hpp index 5746fd40b..7ba420121 100644 --- a/roboteam_robothub/include/simulation/SimulatorManager.hpp +++ b/roboteam_robothub/include/simulation/SimulatorManager.hpp @@ -1,4 +1,3 @@ -// By: Floris Heinen #pragma once #include diff --git a/roboteam_robothub/scripts/RobotControlScript.cpp b/roboteam_robothub/scripts/RobotControlScript.cpp index f397937d2..0ac21250a 100644 --- a/roboteam_robothub/scripts/RobotControlScript.cpp +++ b/roboteam_robothub/scripts/RobotControlScript.cpp @@ -190,7 +190,7 @@ void printCommandOptions() { << "- help : For displaying this message" << std::endl; } -int stringToRobotId(std::string s) { +int stringToRobotId(const std::string& s) { if (s == "0") { return 0; } else if (s == "1") { diff --git a/roboteam_robothub/scripts/sendFormationToSimulator.cpp b/roboteam_robothub/scripts/sendFormationToSimulator.cpp index 82cf1247c..c8b39e9f6 100644 --- a/roboteam_robothub/scripts/sendFormationToSimulator.cpp +++ b/roboteam_robothub/scripts/sendFormationToSimulator.cpp @@ -1,7 +1,3 @@ -// -// Created by tijmen on 13-01-22. -// - #include #include diff --git a/roboteam_robothub/src/basestation/EnumerateBasestations.cpp b/roboteam_robothub/src/basestation/EnumerateBasestations.cpp index b4da534e5..25e1ea401 100644 --- a/roboteam_robothub/src/basestation/EnumerateBasestations.cpp +++ b/roboteam_robothub/src/basestation/EnumerateBasestations.cpp @@ -1,5 +1,3 @@ -// Created by emiel on 06-07-21. - #include int main(int argc, char *argv[]) { rtt::robothub::basestation::usbutils_enumerate(); } \ No newline at end of file diff --git a/roboteam_robothub/src/basestation/LibusbUtilities.cpp b/roboteam_robothub/src/basestation/LibusbUtilities.cpp index 3c9ab1793..692590cc9 100644 --- a/roboteam_robothub/src/basestation/LibusbUtilities.cpp +++ b/roboteam_robothub/src/basestation/LibusbUtilities.cpp @@ -1,4 +1,3 @@ -// Created by emiel on 21-05-21. #include "../../include/basestation/LibusbUtilities.h" #include @@ -248,19 +247,36 @@ void usbutils_enumerate() { } error = libusb_get_string_descriptor_ascii(handle, desc.iManufacturer, str, sizeof(str)); + if (error) { + std::cout << "Error while retrieving manufacturer : " << usbutils_errorToString(error) << std::endl; + continue; + } std::string manufacturer((char *)str); + error = libusb_get_string_descriptor_ascii(handle, desc.iProduct, str, sizeof(str)); + if (error) { + std::cout << "Error while retrieving product : " << usbutils_errorToString(error) << std::endl; + continue; + } std::string product((char *)str); + error = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, str, sizeof(str)); + if (error) { + std::cout << "Error while retrieving serial number : " << usbutils_errorToString(error) << std::endl; + continue; + } std::string serialNumber((char *)str); + std::cout << "Device : " << manufacturer << " " << product << " " << serialNumber << std::endl; /** http://libusb.sourceforge.net/api-1.0/structlibusb__config__descriptor.html */ for (int iConfig = 0; iConfig < desc.bNumConfigurations; iConfig++) { libusb_config_descriptor *configDesc; error = libusb_get_config_descriptor(device, iConfig, &configDesc); - if (error) std::cout << "Error while retrieving config " << iConfig << " : " << usbutils_errorToString(error) << std::endl; - if (error) continue; + if (error) { + std::cout << "Error while retrieving config " << iConfig << " : " << usbutils_errorToString(error) << std::endl; + continue; + } std::cout << "CONFIGURATION " << iConfig << std::endl; // bNumInterfaces : Number of interfaces supported by this configuration. @@ -275,8 +291,8 @@ void usbutils_enumerate() { std::cout << "│ Configuration : " << str << std::endl; // MaxPower : Maximum power consumption of the USB device from this bus in this configuration when the device is fully operation. // Expressed in units of 2 mA when the device is operating in high-speed mode and in units of 8 mA when the device is operating in super-speed mode. - std::bitset<8> bmAttributes(configDesc->bmAttributes); - std::cout << "| bmAttributes : " << bmAttributes << std::endl; + std::bitset<8> configBmAttributes(configDesc->bmAttributes); + std::cout << "| bmAttributes : " << configBmAttributes << std::endl; std::cout << "│ MaxPower : " << std::to_string(configDesc->MaxPower) << std::endl; // Length of the extra descriptors, in bytes. std::cout << "│ extra_length : " << std::to_string(configDesc->extra_length) << std::endl; @@ -306,8 +322,8 @@ void usbutils_enumerate() { libusb_endpoint_descriptor endpointDesc = interfaceDesc.endpoint[iEndpoint]; std::cout << "│ │ ├──ENDPOINT " << std::to_string(iEndpoint) << std::endl; // bEndPointAddress : The address of the endpoint described by this descriptor. - std::bitset<8> bmAttributes(endpointDesc.bEndpointAddress); - std::cout << "| │ │ bEndpointAddress : " << bmAttributes << std::endl; + std::bitset<8> endpointBmAttributes(endpointDesc.bEndpointAddress); + std::cout << "| │ │ bEndpointAddress : " << endpointBmAttributes << std::endl; std::cout << "│ │ │ endpoint number : " << usbutils_bEndpointAddress_EndpointNumberToString(endpointDesc.bEndpointAddress).c_str() << std::endl; std::cout << "│ │ │ endpoint direction : " << usbutils_endpointDirectionToString(usbutils_getEndpointDirection(endpointDesc.bEndpointAddress)) << std::endl; diff --git a/roboteam_utils/CMakeLists.txt b/roboteam_utils/CMakeLists.txt index e114e19e1..8d7cb0c07 100644 --- a/roboteam_utils/CMakeLists.txt +++ b/roboteam_utils/CMakeLists.txt @@ -1,95 +1,38 @@ cmake_minimum_required(VERSION 3.22) project(roboteam_utils VERSION 0.1 DESCRIPTION "utils for Roboteam Twente") -set(ROBOTEAM_UTILS_SRC - src/utils/Polygon.cpp - src/utils/Line.cpp - src/utils/LineSegment.cpp - src/utils/Vector2.cpp - src/utils/Angle.cpp - src/utils/Position.cpp - src/utils/Mathematics.cpp - src/utils/Hungarian.cpp - src/utils/Arc.cpp - src/utils/Timer.cpp - src/utils/Circle.cpp - src/utils/pid.cpp - src/utils/Tube.cpp - src/utils/Time.cpp - src/utils/Random.cpp - src/utils/HalfLine.cpp - src/utils/Grid.cpp - src/utils/Shadow.cpp - src/utils/Polynomial.cpp - src/utils/RobotShape.cpp - src/utils/RobotCommands.cpp - src/utils/RobotFeedback.cpp - src/utils/FileLogger.cpp - src/utils/Teams.cpp - src/utils/FastRectangle.cpp - src/utils/Field.cpp - src/utils/Robot.cpp - src/utils/World.cpp - src/utils/Ball.cpp - ) - -set(ROBOTEAM_UTILS_TEST_SRC - test/utils/AngleTest.cpp - test/utils/ArcTest.cpp - test/utils/BallTest.cpp - test/utils/LineTest.cpp - test/utils/LineIntersectionTest.cpp - test/utils/LineProjectionTest.cpp - test/utils/LineSegmentTest.cpp - test/utils/MathematicsTest.cpp - test/utils/CircleTest.cpp - test/utils/PolygonTest.cpp - test/utils/PositionTest.cpp - test/utils/Vector2Test.cpp - test/utils/HungarianTest.cpp - test/utils/TubeTest.cpp - test/utils/TimeTest.cpp - test/utils/RandomTest.cpp - test/utils/StateMachineTest.cpp - test/utils/HalfLineTest.cpp - test/utils/GridTest.cpp - test/utils/StaticVectorTest.cpp - test/utils/ShadowTest.cpp - test/utils/RobotShapeTest.cpp - test/utils/RobotCommandsTest.cpp - test/utils/RobotFeedbackTest.cpp - test/utils/FastRectangleTest.cpp - test/utils/FieldTest.cpp - ) +file(GLOB_RECURSE ROBOTEAM_UTILS_SRC + "${PROJECT_SOURCE_DIR}/src/utils/*.cpp" +) +file(GLOB_RECURSE ROBOTEAM_UTILS_TEST_SRC + "${PROJECT_SOURCE_DIR}/test/utils/*.cpp" +) add_library(roboteam_utils STATIC ${ROBOTEAM_UTILS_SRC} - ) - +) target_include_directories(roboteam_utils PRIVATE include/roboteam_utils PUBLIC include - ) +) target_link_libraries(roboteam_utils PRIVATE roboteam_networking ) - target_compile_options(roboteam_utils PRIVATE "${COMPILER_FLAGS}") # -- TESTS -- add_executable(roboteam_utils_tests ${ROBOTEAM_UTILS_TEST_SRC} - ) +) target_link_libraries(roboteam_utils_tests PRIVATE roboteam_utils PRIVATE GTest::gtest PRIVATE GTest::gtest_main - PRIVATE pthread - ) +) target_compile_options(roboteam_utils_tests PRIVATE "${COMPILER_FLAGS}") diff --git a/roboteam_utils/include/roboteam_utils/Angle.h b/roboteam_utils/include/roboteam_utils/Angle.h index 508028bab..1c12702b6 100644 --- a/roboteam_utils/include/roboteam_utils/Angle.h +++ b/roboteam_utils/include/roboteam_utils/Angle.h @@ -1,7 +1,3 @@ -// -// Created by thijs on 28-2-19. -// - #ifndef ANGLE_H #define ANGLE_H @@ -13,9 +9,6 @@ class Vector2; /** * The Angle class is a modular class on the interval [-PI, PI) that deals with addition, subtractions, distances and comparisons on this scale. - * @author Created by: Thijs Luttikhuis
- * Recreated by: Haico Dorenbos - * @since 2019-02-28 */ class Angle { public: diff --git a/roboteam_utils/include/roboteam_utils/Circle.h b/roboteam_utils/include/roboteam_utils/Circle.h index 37d290948..328961b15 100644 --- a/roboteam_utils/include/roboteam_utils/Circle.h +++ b/roboteam_utils/include/roboteam_utils/Circle.h @@ -1,7 +1,3 @@ -// -// Created by emiel on 24-02-20. -// - #ifndef RTT_CIRCLE_H #define RTT_CIRCLE_H diff --git a/roboteam_utils/include/roboteam_utils/Definitions.h b/roboteam_utils/include/roboteam_utils/Definitions.h index a146f4540..728868cac 100644 --- a/roboteam_utils/include/roboteam_utils/Definitions.h +++ b/roboteam_utils/include/roboteam_utils/Definitions.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 22-01-20. -// - #ifndef RTT_DEFINITIONS_H #define RTT_DEFINITIONS_H diff --git a/roboteam_utils/include/roboteam_utils/Grid.h b/roboteam_utils/include/roboteam_utils/Grid.h index afaafcddf..442f2b662 100644 --- a/roboteam_utils/include/roboteam_utils/Grid.h +++ b/roboteam_utils/include/roboteam_utils/Grid.h @@ -1,7 +1,3 @@ -// -// Created by jesse on 18-05-20. -// - #ifndef RTT_GRID_H #define RTT_GRID_H diff --git a/roboteam_utils/include/roboteam_utils/Line.h b/roboteam_utils/include/roboteam_utils/Line.h index ed8b9d857..ff53c2bac 100644 --- a/roboteam_utils/include/roboteam_utils/Line.h +++ b/roboteam_utils/include/roboteam_utils/Line.h @@ -11,9 +11,6 @@ class LineSegment; /** * The Line class represents an infinite length line, it is encoded by two different points through which the line is infinitely extended in both directions. If you want to use * a finite length line instead then use LineSegment class instead. - * @author Created by: Rolf van der Hulst
- * Documented and redesigned by: Haico Dorenbos - * @since 2019-04-18 */ class Line { public: diff --git a/roboteam_utils/include/roboteam_utils/LineSegment.h b/roboteam_utils/include/roboteam_utils/LineSegment.h index 08db2055e..868e4c289 100644 --- a/roboteam_utils/include/roboteam_utils/LineSegment.h +++ b/roboteam_utils/include/roboteam_utils/LineSegment.h @@ -12,9 +12,6 @@ class Line; /** * The LineSegment class represents a finite length line that starts at a given point and ends at a given point. If you want to use an infinite length Line instead then use the * Line class instead. - * @author Created by: Rolf van der Hulst
- * Documented and redesigned by: Haico Dorenbos - * @since 2019-05-15 */ class LineSegment { public: diff --git a/roboteam_utils/include/roboteam_utils/Polygon.h b/roboteam_utils/include/roboteam_utils/Polygon.h index 4416aa0dd..571afaab7 100644 --- a/roboteam_utils/include/roboteam_utils/Polygon.h +++ b/roboteam_utils/include/roboteam_utils/Polygon.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 24-4-19. -// - #ifndef ROBOTEAM_UTILS_POLYGON_H #define ROBOTEAM_UTILS_POLYGON_H diff --git a/roboteam_utils/include/roboteam_utils/Polynomial.h b/roboteam_utils/include/roboteam_utils/Polynomial.h index a60cddb5f..c1e1f1f7c 100644 --- a/roboteam_utils/include/roboteam_utils/Polynomial.h +++ b/roboteam_utils/include/roboteam_utils/Polynomial.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 18-10-20. -// - #ifndef RTT_POLYNOMIAL_H #define RTT_POLYNOMIAL_H #include @@ -12,10 +8,7 @@ namespace rtt { * Solves a quadratic equation of the form ax^2+bx+c=0 * @return an optional containing t0,t1, where t0<=t1. It may be that t0 == t1. If the discriminant<0 the optional is empty */ -std::optional> solveQuadratic(double a, double b, double c); std::optional> solveQuadraticPositiveA(double a, double b, double c); -std::vector solveQuadraticVector(double a, double b, double c); -int countQuadraticSolutions(double a, double b, double c); } // namespace rtt #endif // RTT_POLYNOMIAL_H diff --git a/roboteam_utils/include/roboteam_utils/RobotShape.h b/roboteam_utils/include/roboteam_utils/RobotShape.h index ece6ea8ff..327af11ee 100644 --- a/roboteam_utils/include/roboteam_utils/RobotShape.h +++ b/roboteam_utils/include/roboteam_utils/RobotShape.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 26-04-20. -// - #ifndef ROBOTEAM_UTILS_ROBOTSHAPE_H_ #define ROBOTEAM_UTILS_ROBOTSHAPE_H_ diff --git a/roboteam_utils/include/roboteam_utils/Shape.h b/roboteam_utils/include/roboteam_utils/Shape.h index 3d1e489d7..077691d7b 100644 --- a/roboteam_utils/include/roboteam_utils/Shape.h +++ b/roboteam_utils/include/roboteam_utils/Shape.h @@ -1,7 +1,3 @@ -// -// Created by alexander on 29-04-22. -// - #ifndef RTT_SHAPE_H #define RTT_SHAPE_H diff --git a/roboteam_utils/include/roboteam_utils/Statistics.h b/roboteam_utils/include/roboteam_utils/Statistics.h index b3fdc47f4..d408c3685 100644 --- a/roboteam_utils/include/roboteam_utils/Statistics.h +++ b/roboteam_utils/include/roboteam_utils/Statistics.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 22-01-20. -// - #ifndef ROBOTEAM_UTILS_STATISTICS_H #define ROBOTEAM_UTILS_STATISTICS_H diff --git a/roboteam_utils/include/roboteam_utils/Time.h b/roboteam_utils/include/roboteam_utils/Time.h index 59c5cf385..bb6d8c944 100644 --- a/roboteam_utils/include/roboteam_utils/Time.h +++ b/roboteam_utils/include/roboteam_utils/Time.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 19-08-20. -// - #ifndef RTT_TIME_H #define RTT_TIME_H diff --git a/roboteam_utils/include/roboteam_utils/Timer.h b/roboteam_utils/include/roboteam_utils/Timer.h index 78ed839bc..cc574b739 100644 --- a/roboteam_utils/include/roboteam_utils/Timer.h +++ b/roboteam_utils/include/roboteam_utils/Timer.h @@ -1,7 +1,3 @@ -// -// Created by Lukas Bos on 24/09/2019. -// - #ifndef RTT_TIMER_H #define RTT_TIMER_H diff --git a/roboteam_utils/include/roboteam_utils/Tube.h b/roboteam_utils/include/roboteam_utils/Tube.h index 51d24102b..cdfec9ed5 100644 --- a/roboteam_utils/include/roboteam_utils/Tube.h +++ b/roboteam_utils/include/roboteam_utils/Tube.h @@ -1,7 +1,3 @@ -// -// Created by rolf on 24-02-20. -// - #ifndef ROBOTEAM_UTILS_TUBE_H #define ROBOTEAM_UTILS_TUBE_H #include "LineSegment.h" diff --git a/roboteam_utils/include/roboteam_utils/Vector2.h b/roboteam_utils/include/roboteam_utils/Vector2.h index 64cc287d2..4a0981316 100644 --- a/roboteam_utils/include/roboteam_utils/Vector2.h +++ b/roboteam_utils/include/roboteam_utils/Vector2.h @@ -226,7 +226,7 @@ std::ostream &operator<<(std::ostream &os, Vector2 const &vec); } // namespace rtt /** - * A hash function for the Vector2, for use with unordered_maps. It uses the implementation of the boost hash combine + * A hash function for the Vector2, for use with unordered_maps. It uses the implementation of the hash combine */ template <> struct std::hash { diff --git a/roboteam_utils/include/roboteam_utils/containers/state_machine.hpp b/roboteam_utils/include/roboteam_utils/containers/state_machine.hpp index 36a1f508e..6c4c849a5 100644 --- a/roboteam_utils/include/roboteam_utils/containers/state_machine.hpp +++ b/roboteam_utils/include/roboteam_utils/containers/state_machine.hpp @@ -1,7 +1,3 @@ -// -// Created by john on 3/4/20. -// - #ifndef RTT_STATE_MACHINE_HPP #define RTT_STATE_MACHINE_HPP diff --git a/roboteam_utils/include/roboteam_utils/containers/static_vector.hpp b/roboteam_utils/include/roboteam_utils/containers/static_vector.hpp index 6872609b6..1fc744d54 100644 --- a/roboteam_utils/include/roboteam_utils/containers/static_vector.hpp +++ b/roboteam_utils/include/roboteam_utils/containers/static_vector.hpp @@ -1,7 +1,3 @@ -// -// Created by john on 25/9/20. -// - #ifndef RTT_STATIC_VECTOR_HPP #define RTT_STATIC_VECTOR_HPP diff --git a/roboteam_utils/include/roboteam_utils/containers/type_traits.hpp b/roboteam_utils/include/roboteam_utils/containers/type_traits.hpp index 148100855..b999700d6 100644 --- a/roboteam_utils/include/roboteam_utils/containers/type_traits.hpp +++ b/roboteam_utils/include/roboteam_utils/containers/type_traits.hpp @@ -1,7 +1,3 @@ -// -// Created by john on 3/4/20. -// - #ifndef RTT_TYPE_TRAITS_HPP #define RTT_TYPE_TRAITS_HPP diff --git a/roboteam_utils/include/roboteam_utils/pid.h b/roboteam_utils/include/roboteam_utils/pid.h index 2f2cd4f81..d68ef38a9 100644 --- a/roboteam_utils/include/roboteam_utils/pid.h +++ b/roboteam_utils/include/roboteam_utils/pid.h @@ -1,7 +1,3 @@ -// -// Created by mrlukasbos on 29-3-19. -// - #ifndef ROBOTEAM_AI_PID_H #define ROBOTEAM_AI_PID_H diff --git a/roboteam_utils/include/roboteam_utils/type_traits.h b/roboteam_utils/include/roboteam_utils/type_traits.h index fe24b152e..9f0bb7e8c 100644 --- a/roboteam_utils/include/roboteam_utils/type_traits.h +++ b/roboteam_utils/include/roboteam_utils/type_traits.h @@ -1,7 +1,3 @@ -// -// Created by Yuhanun Citgez on 05/12/2019. -// - #ifndef RTT_UTILS_TYPE_TRAITS_H #define RTT_UTILS_TYPE_TRAITS_H diff --git a/roboteam_utils/src/utils/Circle.cpp b/roboteam_utils/src/utils/Circle.cpp index e9b2ff464..e02f67c8c 100644 --- a/roboteam_utils/src/utils/Circle.cpp +++ b/roboteam_utils/src/utils/Circle.cpp @@ -1,7 +1,3 @@ -// -// Created by emiel on 24-02-20. -// - #include "Circle.h" #include "Polynomial.h" diff --git a/roboteam_utils/src/utils/Grid.cpp b/roboteam_utils/src/utils/Grid.cpp index 2993eb62c..cfb6592c7 100644 --- a/roboteam_utils/src/utils/Grid.cpp +++ b/roboteam_utils/src/utils/Grid.cpp @@ -1,7 +1,3 @@ -// -// Created by jesse on 18-05-20. -// - #include "Grid.h" namespace rtt { diff --git a/roboteam_utils/src/utils/Hungarian.cpp b/roboteam_utils/src/utils/Hungarian.cpp index 946c59f84..892be4712 100644 --- a/roboteam_utils/src/utils/Hungarian.cpp +++ b/roboteam_utils/src/utils/Hungarian.cpp @@ -105,7 +105,7 @@ double Hungarian::Solve(vector>& DistMatrix, vector& Assignm // Solve optimal solution for assignment problem using Munkres algorithm, also known as Hungarian Algorithm. //********************************************************// void Hungarian::assignmentoptimal(int* assignment, double* cost, double* distMatrixIn, int nOfRows, int nOfColumns) { - double *distMatrix, *distMatrixTemp, *distMatrixEnd, *columnEnd, value, minValue; + double *distMatrix, *distMatrixTemp, *distMatrixEnd, value, minValue; bool *coveredColumns, *coveredRows, *starMatrix, *newStarMatrix, *primeMatrix; int nOfElements, minDim, row, col; @@ -171,7 +171,7 @@ void Hungarian::assignmentoptimal(int* assignment, double* cost, double* distMat for (col = 0; col < nOfColumns; col++) { /* find the smallest element in the column */ distMatrixTemp = distMatrix + nOfRows * col; - columnEnd = distMatrixTemp + nOfRows; + double* columnEnd = distMatrixTemp + nOfRows; minValue = *distMatrixTemp++; while (distMatrixTemp < columnEnd) { @@ -214,22 +214,21 @@ void Hungarian::assignmentoptimal(int* assignment, double* cost, double* distMat /********************************************************/ void Hungarian::buildassignmentvector(int* assignment, bool* starMatrix, int nOfRows, int nOfColumns) { - int row, col; - - for (row = 0; row < nOfRows; row++) - for (col = 0; col < nOfColumns; col++) + int row; + for (row = 0; row < nOfRows; row++) { + for (int col = 0; col < nOfColumns; col++) { if (starMatrix[row + nOfRows * col]) { assignment[row] = col; break; } + } + } } /********************************************************/ void Hungarian::computeassignmentcost(int* assignment, double* cost, double* distMatrix, int nOfRows) { - int row, col; - - for (row = 0; row < nOfRows; row++) { - col = assignment[row]; + for (int row = 0; row < nOfRows; row++) { + int col = assignment[row]; if (col >= 0) *cost += distMatrix[row + nOfRows * col]; } } @@ -237,13 +236,12 @@ void Hungarian::computeassignmentcost(int* assignment, double* cost, double* dis /********************************************************/ void Hungarian::step2a(int* assignment, double* distMatrix, bool* starMatrix, bool* newStarMatrix, bool* primeMatrix, bool* coveredColumns, bool* coveredRows, int nOfRows, int nOfColumns, int minDim) { - bool *starMatrixTemp, *columnEnd; int col; /* cover every column containing a starred zero */ for (col = 0; col < nOfColumns; col++) { - starMatrixTemp = starMatrix + nOfRows * col; - columnEnd = starMatrixTemp + nOfRows; + bool* starMatrixTemp = starMatrix + nOfRows * col; + bool* columnEnd = starMatrixTemp + nOfRows; while (starMatrixTemp < columnEnd) { if (*starMatrixTemp++) { coveredColumns[col] = true; @@ -316,7 +314,7 @@ void Hungarian::step3(int* assignment, double* distMatrix, bool* starMatrix, boo /********************************************************/ void Hungarian::step4(int* assignment, double* distMatrix, bool* starMatrix, bool* newStarMatrix, bool* primeMatrix, bool* coveredColumns, bool* coveredRows, int nOfRows, int nOfColumns, int minDim, int row, int col) { - int n, starRow, starCol, primeRow, primeCol; + int n, starRow, starCol, primeCol; int nOfElements = nOfRows * nOfColumns; /* generate temporary copy of starMatrix */ @@ -335,7 +333,7 @@ void Hungarian::step4(int* assignment, double* distMatrix, bool* starMatrix, boo newStarMatrix[starRow + nOfRows * starCol] = false; /* find primed zero in current row */ - primeRow = starRow; + int primeRow = starRow; for (primeCol = 0; primeCol < nOfColumns; primeCol++) if (primeMatrix[primeRow + nOfRows * primeCol]) break; diff --git a/roboteam_utils/src/utils/Polygon.cpp b/roboteam_utils/src/utils/Polygon.cpp index f45abc7a2..c8f54fa10 100644 --- a/roboteam_utils/src/utils/Polygon.cpp +++ b/roboteam_utils/src/utils/Polygon.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 24-4-19. -// - #include "Polygon.h" #include @@ -22,9 +18,7 @@ size_t Polygon::amountOfVertices() const { return vertices.size(); } Vector2 Polygon::operator[](size_t idx) const { return vertices[idx]; } void Polygon::move(const Vector2 &moveBy) { - for (auto &vertex : vertices) { - vertex += moveBy; - } + std::transform(vertices.begin(), vertices.end(), vertices.begin(), [&moveBy](Vector2 &vertex) { return vertex += moveBy; }); } std::vector Polygon::getBoundary() const { diff --git a/roboteam_utils/src/utils/Polynomial.cpp b/roboteam_utils/src/utils/Polynomial.cpp index 86def41d1..c7fe3d335 100644 --- a/roboteam_utils/src/utils/Polynomial.cpp +++ b/roboteam_utils/src/utils/Polynomial.cpp @@ -1,21 +1,7 @@ -// -// Created by rolf on 18-10-20. -// - #include "Polynomial.h" #include namespace rtt { -std::optional> solveQuadratic(double a, double b, double c) { - double discriminant = b * b - 4 * a * c; - if (discriminant < 0) { - return std::nullopt; - } - discriminant = sqrt(discriminant); - double t0 = (-b - discriminant) / (2 * a); - double t1 = (-b + discriminant) / (2 * a); - return a > 0 ? std::make_pair(t0, t1) : std::make_pair(t1, t0); -} std::optional> solveQuadraticPositiveA(double a, double b, double c) { double discriminant = b * b - 4 * a * c; @@ -28,26 +14,4 @@ std::optional> solveQuadraticPositiveA(double a, doubl return std::make_pair(t0, t1); } -std::vector solveQuadraticVector(double a, double b, double c) { - double discriminant = b * b - 4 * a * c; - if (discriminant < 0) { - return {}; - } else if (discriminant == 0) { - return {-b / (2 * a)}; - } - discriminant = sqrt(discriminant); - double t0 = (-b - discriminant) / (2 * a); - double t1 = (-b + discriminant) / (2 * a); - return a > 0 ? std::vector{t0, t1} : std::vector{t1, t0}; -} - -int countQuadraticSolutions(double a, double b, double c) { - double discriminant = b * b - 4 * a * c; - if (discriminant < 0) { - return 0; - } else if (discriminant == 0) { - return 1; - } - return 2; -} } // namespace rtt \ No newline at end of file diff --git a/roboteam_utils/src/utils/RobotShape.cpp b/roboteam_utils/src/utils/RobotShape.cpp index 5843e6615..46de26f00 100644 --- a/roboteam_utils/src/utils/RobotShape.cpp +++ b/roboteam_utils/src/utils/RobotShape.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 26-04-20. -// - #include "RobotShape.h" #include diff --git a/roboteam_utils/src/utils/Time.cpp b/roboteam_utils/src/utils/Time.cpp index f46772fec..9d499965d 100644 --- a/roboteam_utils/src/utils/Time.cpp +++ b/roboteam_utils/src/utils/Time.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 19-08-20. -// - #include "Time.h" #include diff --git a/roboteam_utils/src/utils/Timer.cpp b/roboteam_utils/src/utils/Timer.cpp index d35f1f698..a25e005ca 100644 --- a/roboteam_utils/src/utils/Timer.cpp +++ b/roboteam_utils/src/utils/Timer.cpp @@ -1,7 +1,3 @@ -// -// Created by Lukas Bos on 24/09/2019. -// - #include "Timer.h" #include diff --git a/roboteam_utils/src/utils/Tube.cpp b/roboteam_utils/src/utils/Tube.cpp index f8b273391..d36ade3a1 100644 --- a/roboteam_utils/src/utils/Tube.cpp +++ b/roboteam_utils/src/utils/Tube.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 24-02-20. -// - #include "Tube.h" #include "Circle.h" diff --git a/roboteam_utils/test/utils/CircleTest.cpp b/roboteam_utils/test/utils/CircleTest.cpp index bb921f1fa..18e4810a4 100644 --- a/roboteam_utils/test/utils/CircleTest.cpp +++ b/roboteam_utils/test/utils/CircleTest.cpp @@ -1,7 +1,3 @@ -// -// Created by emiel on 25-02-20. -// - #include #include @@ -191,8 +187,6 @@ TEST(CircleTests, operatorDivide) { } TEST(CircleTests, intersectionsTest) { - // There are two intersection functions... Lets test individually - // intersects Circle circle({0, 0}, 1); LineSegment noIntersectLine({-2, 2}, {2, 2}); ASSERT_TRUE(circle.intersects(noIntersectLine).empty()); @@ -221,9 +215,10 @@ TEST(CircleTests, intersectionsTest) { ASSERT_TRUE(circle.intersects(containsTwoEnds).empty()); LineSegment diagonalLineSegment({-2, -2}, {2, 2}); - auto intersectionsDiagonal = circle.intersects(twoIntersectLine); - auto possibilityDiagonal1 = std::vector{Vector2(-0.71, -0.71), Vector2(0.71, 0.71)}; - auto possibilityDiagonal2 = std::vector{Vector2(0.71, 0.71), Vector2(-0.71, -0.71)}; + auto intersectionsDiagonal = circle.intersects(diagonalLineSegment); + auto possibilityDiagonal1 = std::vector{Vector2(-sqrt(2) / 2, -sqrt(2) / 2), Vector2(sqrt(2) / 2, sqrt(2) / 2)}; + auto possibilityDiagonal2 = std::vector{Vector2(sqrt(2) / 2, sqrt(2) / 2), Vector2(-sqrt(2) / 2, -sqrt(2) / 2)}; + ASSERT_TRUE(intersectionsDiagonal == possibilityDiagonal1 || intersectionsDiagonal == possibilityDiagonal2); } TEST(CircleTests, moveTest) { @@ -238,13 +233,4 @@ TEST(CircleTests, moveTest) { circle.move(vector2); EXPECT_DOUBLE_EQ(circle.center.x, -1); EXPECT_DOUBLE_EQ(circle.center.y, -1); -} - -TEST(CircleTests, intersectsTest) { - Circle circle({0, 0}, 1); - LineSegment diagonalLineSegment({-2, -2}, {2, 2}); - auto intersectionsDiagonal = circle.intersects(diagonalLineSegment); - auto possibilityDiagonal1 = std::vector{Vector2(-sqrt(2) / 2, -sqrt(2) / 2), Vector2(sqrt(2) / 2, sqrt(2) / 2)}; - auto possibilityDiagonal2 = std::vector{Vector2(sqrt(2) / 2, sqrt(2) / 2), Vector2(-sqrt(2) / 2, -sqrt(2) / 2)}; - ASSERT_TRUE(intersectionsDiagonal == possibilityDiagonal1 || intersectionsDiagonal == possibilityDiagonal2); } \ No newline at end of file diff --git a/roboteam_utils/test/utils/GridTest.cpp b/roboteam_utils/test/utils/GridTest.cpp index 069cc0d0c..d66297e71 100644 --- a/roboteam_utils/test/utils/GridTest.cpp +++ b/roboteam_utils/test/utils/GridTest.cpp @@ -1,11 +1,3 @@ -// -// Created by jesse on 18-05-20. -// - -// -// Created by rolf on 22-01-20. -// - #include #include #include diff --git a/roboteam_utils/test/utils/LineIntersectionTest.cpp b/roboteam_utils/test/utils/LineIntersectionTest.cpp index 9f971816b..fa0123013 100644 --- a/roboteam_utils/test/utils/LineIntersectionTest.cpp +++ b/roboteam_utils/test/utils/LineIntersectionTest.cpp @@ -1,6 +1,3 @@ -// -// Created by Haico Dorenbos on 08-06-2020. -// #include #include diff --git a/roboteam_utils/test/utils/LineProjectionTest.cpp b/roboteam_utils/test/utils/LineProjectionTest.cpp index c04384637..a5b09d856 100644 --- a/roboteam_utils/test/utils/LineProjectionTest.cpp +++ b/roboteam_utils/test/utils/LineProjectionTest.cpp @@ -1,6 +1,3 @@ -// -// Created by Haico Dorenbos on 10-06-2020. -// #include #include #include diff --git a/roboteam_utils/test/utils/LineTest.cpp b/roboteam_utils/test/utils/LineTest.cpp index 92de0241b..8e9f9c9b6 100644 --- a/roboteam_utils/test/utils/LineTest.cpp +++ b/roboteam_utils/test/utils/LineTest.cpp @@ -1,7 +1,3 @@ -// -// Recreated by Haico Dorenbos on 12-06-2020. -// - #include #include diff --git a/roboteam_utils/test/utils/PolygonTest.cpp b/roboteam_utils/test/utils/PolygonTest.cpp index 5cebdd0c8..b216f7298 100644 --- a/roboteam_utils/test/utils/PolygonTest.cpp +++ b/roboteam_utils/test/utils/PolygonTest.cpp @@ -1,10 +1,8 @@ -// -// Created by rolf on 14-5-19. -// - #include #include +#include + #include "roboteam_utils/Line.h" #include "roboteam_utils/Polygon.h" #include "roboteam_utils/Vector2.h" @@ -118,7 +116,7 @@ TEST(boundaryTests, PolygonTest) { Polygon rect(leftCorner, width, height); Polygon rect2({leftCorner, rightBottom, rightTop, leftTop}); Polygon triangle({leftCorner, rightBottom, leftTop}); - std::vector objects; + std::vector objects = {rect, rect2, triangle}; for (const Polygon &obj : objects) { std::vector lines = obj.getBoundary(); for (size_t i = 0; i < lines.size(); ++i) { @@ -130,10 +128,7 @@ TEST(boundaryTests, PolygonTest) { EXPECT_TRUE(obj.isOnBoundary(line.end)); EXPECT_TRUE(obj.isOnBoundary((line.start + line.end) * 0.5)); } - double lenSum = 0; - for (const LineSegment &line : lines) { - lenSum += line.length(); - } + double lenSum = std::accumulate(lines.begin(), lines.end(), 0.0, [](double sum, const LineSegment &line) { return sum + line.length(); }); EXPECT_EQ(lenSum, obj.perimeterLength()); } EXPECT_EQ(rect.perimeterLength(), 2 * (width + height)); diff --git a/roboteam_utils/test/utils/RandomTest.cpp b/roboteam_utils/test/utils/RandomTest.cpp index 1fd0af13a..29a1dc597 100644 --- a/roboteam_utils/test/utils/RandomTest.cpp +++ b/roboteam_utils/test/utils/RandomTest.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 19-08-20. -// - #include #include #include diff --git a/roboteam_utils/test/utils/RobotShapeTest.cpp b/roboteam_utils/test/utils/RobotShapeTest.cpp index 790d74019..0d73955d2 100644 --- a/roboteam_utils/test/utils/RobotShapeTest.cpp +++ b/roboteam_utils/test/utils/RobotShapeTest.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 18-10-20. -// - #include #include #include diff --git a/roboteam_utils/test/utils/ShadowTest.cpp b/roboteam_utils/test/utils/ShadowTest.cpp index f49b8905c..5194910f0 100644 --- a/roboteam_utils/test/utils/ShadowTest.cpp +++ b/roboteam_utils/test/utils/ShadowTest.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 19-4-19. -// - #include #include "roboteam_utils/LineSegment.h" diff --git a/roboteam_utils/test/utils/StateMachineTest.cpp b/roboteam_utils/test/utils/StateMachineTest.cpp index 557aa9e70..835aee709 100644 --- a/roboteam_utils/test/utils/StateMachineTest.cpp +++ b/roboteam_utils/test/utils/StateMachineTest.cpp @@ -1,7 +1,3 @@ -// -// Created by john on 3/4/20. -// - #include #include diff --git a/roboteam_utils/test/utils/StaticVectorTest.cpp b/roboteam_utils/test/utils/StaticVectorTest.cpp index f7d7c2010..7d7daf34b 100644 --- a/roboteam_utils/test/utils/StaticVectorTest.cpp +++ b/roboteam_utils/test/utils/StaticVectorTest.cpp @@ -1,9 +1,6 @@ -// -// Created by rolf on 26-09-20. -// - #include +#include #include using namespace rtt::collections; TEST(static_vector, initialisation) { @@ -37,11 +34,8 @@ TEST(static_vector, erase) { EXPECT_EQ(x[0], 3.0); EXPECT_EQ(x[1], 5.0); EXPECT_EQ(x.size(), 2); - // CHeck if begin and end pointers are properly adjusted as well - double sum = 0; - for (auto& elem : x) { - sum += elem; - } + // Check if begin and end pointers are properly adjusted as well + double sum = std::accumulate(x.begin(), x.end(), 0); EXPECT_EQ(sum, 8.0); } @@ -55,22 +49,13 @@ TEST(static_vector, range_based_for_loop) { static_vector x; x.push_back(3.0); x.push_back(4.0); - double sum = 0.0; - for (const auto& elem : x) { - sum += elem; - } + double sum = std::accumulate(x.begin(), x.end(), 0); EXPECT_EQ(sum, 7.0); x.push_back(5.0); - double sum2 = 0.0; - for (auto& elem : x) { - sum2 += elem; - } + double sum2 = std::accumulate(x.begin(), x.end(), 0); EXPECT_EQ(sum2, 12.0); - double sum3 = 0.0; - for (auto elem : x) { - sum3 += elem; - } + double sum3 = std::accumulate(x.begin(), x.end(), 0); EXPECT_EQ(sum3, 12.0); EXPECT_DOUBLE_EQ(x.front(), *x.data()); } @@ -91,10 +76,9 @@ TEST(static_vector, none_movable) { MockClass data3{1.0}; static_vector dataList = {data, data2, data3}; const static_vector copy = dataList; - double sum = 0; - for (const auto& elem : copy) { - sum += elem.value; - } + + double sum = std::accumulate(copy.begin(), copy.end(), 0.0, [](double sum, const auto& elem) { return sum + elem.value; }); + EXPECT_DOUBLE_EQ(sum, 6.0); const MockClass& read = copy[1]; diff --git a/roboteam_utils/test/utils/TimeTest.cpp b/roboteam_utils/test/utils/TimeTest.cpp index 1ee85857d..f56a8faa9 100644 --- a/roboteam_utils/test/utils/TimeTest.cpp +++ b/roboteam_utils/test/utils/TimeTest.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 19-08-20. -// - #include #include diff --git a/roboteam_utils/test/utils/TubeTest.cpp b/roboteam_utils/test/utils/TubeTest.cpp index 2f89e6136..466cb6c66 100644 --- a/roboteam_utils/test/utils/TubeTest.cpp +++ b/roboteam_utils/test/utils/TubeTest.cpp @@ -1,7 +1,3 @@ -// -// Created by rolf on 24-02-20. -// - #include #include "roboteam_utils/Circle.h" diff --git a/roboteam_utils/test/utils/WorldTest.cpp b/roboteam_utils/test/utils/WorldTest.cpp index 9ffcbff49..d438afb07 100644 --- a/roboteam_utils/test/utils/WorldTest.cpp +++ b/roboteam_utils/test/utils/WorldTest.cpp @@ -8,8 +8,15 @@ using namespace rtt; World randomWorld() { return World{.timePoint = static_cast(SimpleRandom::getInt(0, 1000)), .id = static_cast(SimpleRandom::getInt(0, 1000)), - .ball = Ball{.position = Vector2(SimpleRandom::getDouble(-5, 5), SimpleRandom::getDouble(-5, 5))}, - .yellowRobots = {Robot{.id = SimpleRandom::getInt(0, 15)}}}; + .ball = Ball{.position = Vector2(SimpleRandom::getDouble(-5, 5), SimpleRandom::getDouble(-5, 5)), + .velocity = Vector2(SimpleRandom::getDouble(-5, 5), SimpleRandom::getDouble(-5, 5)), + .expectedEndPosition = Vector2(SimpleRandom::getDouble(-5, 5), SimpleRandom::getDouble(-5, 5))}, + .yellowRobots = {Robot{.id = SimpleRandom::getInt(0, 15), + .position = Vector2(SimpleRandom::getDouble(-5, 5), SimpleRandom::getDouble(-5, 5)), + .velocity = Vector2(SimpleRandom::getDouble(-5, 5), SimpleRandom::getDouble(-5, 5)), + .angle = SimpleRandom::getDouble(-5, 5), + .capOffset = SimpleRandom::getDouble(-5, 5)}}, + .blueRobots = {}}; } Field randomField() {