太く見やすく

ibis-ssl · Jan 30, 2025 · 397ad24 · 397ad24
1 parent b2692d8
commit 397ad24
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Showing 17 changed files with 37 additions and 37 deletions.
diff --git a/crane_game_analyzer/include/crane_game_analyzer/kick_event_detector.hpp b/crane_game_analyzer/include/crane_game_analyzer/kick_event_detector.hpp
@@ -63,7 +63,7 @@ class KickEventDetector
         .radius(0.5)
         .stroke("blue")
         .fill("blue")
-        .strokeWidth(2);
+        .strokeWidth(20);
       visualizer->add(circle_builder.getSvgString());
       kick_event_origin.emplace(ros_clock.now(), world_model.ball.pos, RobotIdentifier{true, id});
     }
@@ -73,7 +73,7 @@ class KickEventDetector
         .radius(0.5)
         .stroke("blue")
         .fill("blue")
-        .strokeWidth(2);
+        .strokeWidth(20);
       visualizer->add(circle_builder.getSvgString());
       kick_event_origin.emplace(ros_clock.now(), world_model.ball.pos, RobotIdentifier{false, id});
     }

diff --git a/crane_local_planner/include/crane_local_planner/simple_planner.hpp b/crane_local_planner/include/crane_local_planner/simple_planner.hpp
@@ -46,7 +46,7 @@ class SimplePlanner : public LocalPlannerBase
             command.position_target_mode.front().target_x,
             command.position_target_mode.front().target_y)
           .stroke("red")
-          .strokeWidth(2);
+          .strokeWidth(20);
         visualizer->add(line_builder.getSvgString());
       }
       if (command.local_planner_config.max_velocity > MAX_VEL) {

diff --git a/crane_local_planner/src/crane_local_planner.cpp b/crane_local_planner/src/crane_local_planner.cpp
@@ -66,7 +66,7 @@ void LocalPlannerComponent::callbackRobotCommands(const crane_msgs::msg::RobotCo
               raw_command.position_target_mode.front().target_x,
               raw_command.position_target_mode.front().target_y)
             .stroke("yellow", 0.3)
-            .strokeWidth(2);
+            .strokeWidth(20);
           planner->visualizer->add(line_builder.getSvgString());
         }
         break;
@@ -132,7 +132,7 @@ void LocalPlannerComponent::callbackRobotCommands(const crane_msgs::msg::RobotCo
             command.position_target_mode.front().target_x,
             command.position_target_mode.front().target_y)
           .stroke("yellow", 0.5)
-          .strokeWidth(1);
+          .strokeWidth(10);
         planner->visualizer->add(line_builder.getSvgString());
       } break;
       case crane_msgs::msg::RobotCommand::SIMPLE_VELOCITY_TARGET_MODE: {
@@ -147,7 +147,7 @@ void LocalPlannerComponent::callbackRobotCommands(const crane_msgs::msg::RobotCo
             robot->pose.pos.x() + command.simple_velocity_target_mode.front().target_vx * 0.5,
             robot->pose.pos.y() + command.simple_velocity_target_mode.front().target_vy * 0.5)
           .stroke("white", 0.5)
-          .strokeWidth(1);
+          .strokeWidth(10);
         planner->visualizer->add(line_builder.getSvgString());
       } break;
       case crane_msgs::msg::RobotCommand::POLAR_VELOCITY_TARGET_MODE: {
@@ -170,7 +170,7 @@ void LocalPlannerComponent::callbackRobotCommands(const crane_msgs::msg::RobotCo
               0.5 * command.polar_velocity_target_mode.front().target_velocity_r *
                 std::sin(command.polar_velocity_target_mode.front().target_velocity_theta))
           .stroke("white", 0.5)
-          .strokeWidth(1);
+          .strokeWidth(10);
         planner->visualizer->add(line_builder.getSvgString());
       } break;
     }

diff --git a/crane_robot_skills/src/attacker.cpp b/crane_robot_skills/src/attacker.cpp
@@ -115,7 +115,7 @@ Attacker::Attacker(RobotCommandWrapperBase::SharedPtr & base)
       .radius(0.25)
       .stroke("blue")
       .fill("white")
-      .strokeWidth(1);
+      .strokeWidth(10);
     visualizer->add(circle_builder.getSvgString());
 
     return steal_ball_skill.run();
@@ -278,7 +278,7 @@ Attacker::Attacker(RobotCommandWrapperBase::SharedPtr & base)
     const auto enemy_robots = world_model()->theirs.getAvailableRobots();
 
     SvgLineBuilder line_builder;
-    line_builder.start(world_model()->ball.pos).end(kick_target).stroke("red").strokeWidth(1);
+    line_builder.start(world_model()->ball.pos).end(kick_target).stroke("red").strokeWidth(10);
     visualizer->add(line_builder.getSvgString());
 
     kick_skill.setParameter("target", kick_target);

diff --git a/crane_robot_skills/src/goal_kick.cpp b/crane_robot_skills/src/goal_kick.cpp
@@ -28,7 +28,7 @@ Status GoalKick::update()
 
   Point target = world_model()->ball.pos + getNormVec(best_angle) * 0.5;
   SvgLineBuilder line_builder;
-  line_builder.start(world_model()->ball.pos).end(target).stroke("red").strokeWidth(2);
+  line_builder.start(world_model()->ball.pos).end(target).stroke("red").strokeWidth(20);
   visualizer->add(line_builder.getSvgString());
   kick_skill.setParameter("target", target);
   kick_skill.setParameter("dot_threshold", getParameter<double>("dot_threshold"));

diff --git a/crane_robot_skills/src/goalie.cpp b/crane_robot_skills/src/goalie.cpp
@@ -87,7 +87,7 @@ void Goalie::emitBallFromPenaltyArea()
   }();
 
   SvgLineBuilder line_builder;
-  line_builder.start(ball).end(pass_target).stroke("blue").strokeWidth(1);
+  line_builder.start(ball).end(pass_target).stroke("blue").strokeWidth(10);
   visualizer->add(line_builder.getSvgString());
 
   Point intermediate_point = ball + (ball - pass_target).normalized() * 0.2f;

diff --git a/crane_robot_skills/src/kick.cpp b/crane_robot_skills/src/kick.cpp
@@ -121,12 +121,12 @@ Kick::Kick(RobotCommandWrapperBase::SharedPtr & base)
     line_builder.start(ball_pos)
       .end(ball_pos + (target - ball_pos).normalized() * 1.0)
       .stroke("blue")
-      .strokeWidth(1);
+      .strokeWidth(10);
     visualizer->add(line_builder.getSvgString());
     constexpr double SWITCH_DISTANCE = 1.0;
     {
       SvgCircleBuilder circle_builder;
-      circle_builder.center(ball_pos).radius(SWITCH_DISTANCE).stroke("yellow").strokeWidth(1);
+      circle_builder.center(ball_pos).radius(SWITCH_DISTANCE).stroke("yellow").strokeWidth(10);
       visualizer->add(circle_builder.getSvgString());
     }
     if (robot()->getDistance(ball_pos) > SWITCH_DISTANCE) {

diff --git a/crane_robot_skills/src/marker.cpp b/crane_robot_skills/src/marker.cpp
@@ -39,13 +39,13 @@ Status Marker::update()
   command.setTargetPosition(marking_point, 0.1).setTargetTheta(target_theta);
 
   SvgCircleBuilder circle_builder;
-  circle_builder.center(enemy_pos).radius(0.3).stroke("black").strokeWidth(1);
+  circle_builder.center(enemy_pos).radius(0.3).stroke("black").strokeWidth(10);
   visualizer->add(circle_builder.getSvgString());
   SvgLineBuilder line_builder;
   line_builder.start(robot()->pose.pos)
     .end(enemy_pos + (enemy_pos - robot()->pose.pos).normalized() * 0.3)
     .stroke("black")
-    .strokeWidth(2);
+    .strokeWidth(20);
   visualizer->add(line_builder.getSvgString());
   return Status::RUNNING;
 }

diff --git a/crane_robot_skills/src/penalty_kick.cpp b/crane_robot_skills/src/penalty_kick.cpp
@@ -47,7 +47,7 @@ PenaltyKick::PenaltyKick(RobotCommandWrapperBase::SharedPtr & base)
       minimum_angle_accuracy, world_model()->ball.pos, world_model());
     Point best_target = world_model()->ball.pos + getNormVec(best_angle) * 0.5;
     SvgCircleBuilder circle_builder;
-    circle_builder.center(best_target).radius(0.1).stroke("red").strokeWidth(1);
+    circle_builder.center(best_target).radius(0.1).stroke("red").strokeWidth(10);
 
     kick_skill.setParameter("target", best_target);
 

diff --git a/crane_robot_skills/src/receive.cpp b/crane_robot_skills/src/receive.cpp
@@ -49,7 +49,7 @@ Status Receive::update()
   Point interception_point = getInterceptionPoint() + offset;
 
   SvgLineBuilder line_builder;
-  line_builder.start(interception_point).end(robot()->pose.pos).stroke("red").strokeWidth(1);
+  line_builder.start(interception_point).end(robot()->pose.pos).stroke("red").strokeWidth(10);
   visualizer->add(line_builder.getSvgString());
 
   if (getParameter<bool>("enable_redirect")) {
@@ -88,7 +88,7 @@ Point Receive::getInterceptionPoint() const
       world_model()->ball.pos,
       (world_model()->ball.pos + world_model()->ball.vel.normalized() * 10.0));
     SvgLineBuilder line_builder;
-    line_builder.start(ball_line.first).end(ball_line.second).stroke("blue").strokeWidth(1);
+    line_builder.start(ball_line.first).end(ball_line.second).stroke("blue").strokeWidth(10);
     visualizer->add(line_builder.getSvgString());
     auto result = getClosestPointAndDistance(robot()->pose.pos, ball_line);
     return result.closest_point;

diff --git a/crane_robot_skills/src/sub_attacker.cpp b/crane_robot_skills/src/sub_attacker.cpp
@@ -113,7 +113,7 @@ Status SubAttacker::update()
   auto to_ball = (world_model()->ball.pos - target_pos).normalized();
   {
     SvgLineBuilder line_builder;
-    line_builder.start(target_pos).end(target_pos + to_goal * 3.0).stroke("yellow").strokeWidth(2);
+    line_builder.start(target_pos).end(target_pos + to_goal * 3.0).stroke("yellow").strokeWidth(20);
     visualizer->add(line_builder.getSvgString());
   }
   command.setTargetTheta(getAngle(to_goal + to_ball));

diff --git a/crane_world_model_publisher/src/visualization_data_handler.cpp b/crane_world_model_publisher/src/visualization_data_handler.cpp
@@ -106,7 +106,7 @@ void VisualizationDataHandler::publish_vis_geometry(const SSL_GeometryData & geo
     builder.start(field_line.p1().x() * 0.001, field_line.p1().y() * 0.001)
       .end(field_line.p2().x() * 0.001, field_line.p2().y() * 0.001)
       .stroke("white")
-      .strokeWidth(2);
+      .strokeWidth(20);
     visualizer_geometry->add(builder.getSvgString());
   }
 
@@ -115,7 +115,7 @@ void VisualizationDataHandler::publish_vis_geometry(const SSL_GeometryData & geo
     builder.center(field_arc.center().x() * 0.001, field_arc.center().y() * 0.001)
       .radius(field_arc.radius() * 0.001)
       .stroke("white")
-      .strokeWidth(2);
+      .strokeWidth(20);
     visualizer_geometry->add(builder.getSvgString());
   }
 
@@ -144,7 +144,7 @@ void VisualizationDataHandler::publish_vis_geometry(const SSL_GeometryData & geo
       (geometry_data.field().field_length() + geometry_data.field().boundary_width() * 2) * 0.001,
       (geometry_data.field().field_width() + geometry_data.field().boundary_width() * 2) * 0.001)
     .stroke("black")
-    .strokeWidth(3);
+    .strokeWidth(30);
   visualizer_geometry->add(rect_builder.getSvgString());
   visualizer_geometry->flush();
   CraneVisualizerBuffer::publish();
@@ -164,15 +164,15 @@ void VisualizationDataHandler::publish_vis_tracked(const TrackedFrame & tracked_
       .radius(0.0215)
       .stroke("black")
       .fill("orange")
-      .strokeWidth(1);
+      .strokeWidth(10);
     visualizer_tracked->add(builder.getSvgString());
 
     // ボールは小さいのでボールの周りを大きな円で囲う
     builder.center(ball.pos().x(), ball.pos().y())
       .radius(0.5)
       .stroke("crimson", 0.7)
       .fill("none")
-      .strokeWidth(1);
+      .strokeWidth(10);
     visualizer_tracked->add(builder.getSvgString());
 
     ball_x = ball.pos().x();
@@ -185,7 +185,7 @@ void VisualizationDataHandler::publish_vis_tracked(const TrackedFrame & tracked_
       line_builder.start(ball.pos().x(), ball.pos().y())
         .end(ball.pos().x() + ball.vel().x(), ball.pos().y() + ball.vel().y())
         .stroke("gold", VELOCITY_ALPHA)
-        .strokeWidth(2);
+        .strokeWidth(20);
       visualizer_tracked->add(line_builder.getSvgString());
     }
   }
@@ -200,7 +200,7 @@ void VisualizationDataHandler::publish_vis_tracked(const TrackedFrame & tracked_
     double robot_theta = robot.orientation();
     builder.position(robot.pos().x(), robot.pos().y(), robot.orientation())
       .stroke("black")
-      .strokeWidth(1);
+      .strokeWidth(10);
     if (robot.robot_id().team() == RobotId::TEAM_COLOR_BLUE) {
       builder.fill("dodgerblue");
     } else {
@@ -526,7 +526,7 @@ void VisualizationDataHandler::publish_vis_referee(const Referee::SharedPtr msg)
           msg->designated_position.front().x / 1000., msg->designated_position.front().y / 1000.)
         .end(ball_x, ball_y)
         .stroke("aquamarine")
-        .strokeWidth(1);
+        .strokeWidth(10);
       visualizer_referee->add(line_builder.getSvgString());
     }
   }

diff --git a/crane_world_model_publisher/src/world_model_publisher.cpp b/crane_world_model_publisher/src/world_model_publisher.cpp
@@ -451,7 +451,7 @@ void WorldModelPublisherComponent::publishWorldModel()
         line_builder.start(p1)
           .end(p2)
           .stroke("yellow", index / static_cast<double>(history.size()))
-          .strokeWidth(3);
+          .strokeWidth(30);
         visualizer->add(line_builder.getSvgString());
       }
     }
@@ -468,7 +468,7 @@ void WorldModelPublisherComponent::publishWorldModel()
         line_builder.start(p1)
           .end(p2)
           .stroke("blue", index / static_cast<double>(history.size()))
-          .strokeWidth(3);
+          .strokeWidth(30);
         visualizer->add(line_builder.getSvgString());
       }
     }
@@ -480,7 +480,7 @@ void WorldModelPublisherComponent::publishWorldModel()
       line_builder.start(ball_history.at(index))
         .end(ball_history.at(index + SAMPLING_NUM))
         .stroke("orange", index / static_cast<double>(ball_history.size()))
-        .strokeWidth(3);
+        .strokeWidth(30);
       visualizer->add(line_builder.getSvgString());
     }
   }

diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/attacker_skill_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/attacker_skill_planner.hpp
@@ -50,7 +50,7 @@ class AttackerSkillPlanner : public PlannerBase
         circle_builder.center(skill->commander().getRobot()->pose.pos)
           .radius(0.3)
           .stroke("red")
-          .strokeWidth(2);
+          .strokeWidth(20);
         visualizer->add(circle_builder.getSvgString());
       }
       if (world_model->ball.isMoving()) {
@@ -61,7 +61,7 @@ class AttackerSkillPlanner : public PlannerBase
               world_model->ball.pos +
               world_model->ball.vel.normalized() * world_model->getBallDistanceHorizon())
             .stroke("red")
-            .strokeWidth(3);
+            .strokeWidth(30);
           visualizer->add(line_builder.getSvgString());
         }
       }

diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/offensive_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/offensive_planner.hpp
@@ -47,7 +47,7 @@ class OffensivePlanner : public PlannerBase
       circle_builder.center(attacker->commander().getRobot()->pose.pos)
         .radius(0.3)
         .stroke("red")
-        .strokeWidth(2);
+        .strokeWidth(20);
       visualizer->add(circle_builder.getSvgString());
     }
     {
@@ -57,7 +57,7 @@ class OffensivePlanner : public PlannerBase
           world_model->ball.pos +
           world_model->ball.vel.normalized() * world_model->getBallDistanceHorizon())
         .stroke("red")
-        .strokeWidth(3);
+        .strokeWidth(30);
       visualizer->add(line_builder.getSvgString());
     }
     auto status = attacker->run();

diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/placement_avoidance_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/placement_avoidance_planner.hpp
@@ -99,7 +99,7 @@ class BallPlacementAvoidancePlanner : public PlannerBase
         line_builder.start(command.original_position)
           .end(target_position)
           .stroke("yellow")
-          .strokeWidth(2);
+          .strokeWidth(20);
         visualizer->add(line_builder.getSvgString());
       } else {
         command.command->setTargetPosition(command.original_position);

diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/simple_placer_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/simple_placer_planner.hpp
@@ -190,7 +190,7 @@ class SimplePlacerPlanner : public PlannerBase
     // visualize areas with info
     for (const auto & area : areas_with_info) {
       SvgRectBuilder rect_builder;
-      rect_builder.box(area.box).stroke("yellow").strokeWidth(1);
+      rect_builder.box(area.box).stroke("yellow").strokeWidth(10);
       visualizer->add(rect_builder.getSvgString());
 
       SvgTextBuilder text_builder;
@@ -206,7 +206,7 @@ class SimplePlacerPlanner : public PlannerBase
       line_builder.start(cmd.current_pose.x, cmd.current_pose.y)
         .end(cmd.position_target_mode.front().target_x, cmd.position_target_mode.front().target_y)
         .stroke("blue")
-        .strokeWidth(1);
+        .strokeWidth(10);
       visualizer->add(line_builder.getSvgString());
     }
     return {PlannerBase::Status::RUNNING, robot_commands};