kickoff position with rotation (#1101)

* kickoff position with rotation * encode kickoff position and rotation as pose2 * serialize deserialize rounding error
HULKs · Jul 5, 2024 · b262635 · b262635
1 parent e94b982
commit b262635
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Showing 4 changed files with 10 additions and 8 deletions.
diff --git a/crates/control/src/behavior/node.rs b/crates/control/src/behavior/node.rs
@@ -69,7 +69,6 @@ pub struct CycleContext {
     lost_ball_parameters: Parameter<LostBallParameters, "behavior.lost_ball">,
     intercept_ball_parameters: Parameter<InterceptBallParameters, "behavior.intercept_ball">,
     maximum_step_size: Parameter<Step, "step_planner.max_step_size">,
-    striker_set_position: Parameter<Point2<Field>, "behavior.role_positions.striker_set_position">,
 }
 
 #[context]
@@ -355,7 +354,7 @@ impl Behavior {
                         &walk_and_stand,
                         &look_action,
                         &mut context.path_obstacles_output,
-                        *context.striker_set_position,
+                        context.parameters.role_positions.striker_kickoff_pose,
                     ),
                     Action::WalkToPenaltyKick => walk_to_penalty_kick::execute(
                         world_state,

diff --git a/crates/control/src/behavior/walk_to_kick_off.rs b/crates/control/src/behavior/walk_to_kick_off.rs
@@ -1,6 +1,6 @@
 use coordinate_systems::Field;
 use framework::AdditionalOutput;
-use linear_algebra::{Point2, Pose2};
+use linear_algebra::Pose2;
 use types::{motion_command::MotionCommand, path_obstacles::PathObstacle, world_state::WorldState};
 
 use super::{head::LookAction, walk_to_pose::WalkAndStand};
@@ -10,11 +10,11 @@ pub fn execute(
     walk_and_stand: &WalkAndStand,
     look_action: &LookAction,
     path_obstacles_output: &mut AdditionalOutput<Vec<PathObstacle>>,
-    striker_set_position: Point2<Field>,
+    striker_kickoff_pose: Pose2<Field>,
 ) -> Option<MotionCommand> {
     let ground_to_field = world_state.robot.ground_to_field?;
     walk_and_stand.execute(
-        ground_to_field.inverse() * Pose2::from(striker_set_position),
+        ground_to_field.inverse() * striker_kickoff_pose,
         look_action.execute(),
         path_obstacles_output,
     )

diff --git a/crates/types/src/parameters.rs b/crates/types/src/parameters.rs
@@ -2,7 +2,7 @@ use std::ops::{Index, Range};
 use std::{path::PathBuf, time::Duration};
 
 use coordinate_systems::{Field, Ground, NormalizedPixel};
-use linear_algebra::{Point2, Vector2};
+use linear_algebra::{Point2, Pose2, Vector2};
 use path_serde::{PathDeserialize, PathIntrospect, PathSerialize};
 use serde::{Deserialize, Serialize};
 
@@ -87,7 +87,7 @@ pub struct RolePositionsParameters {
     pub striker_supporter_minimum_x: f32,
     pub keeper_x_offset: f32,
     pub striker_distance_to_non_free_center_circle: f32,
-    pub striker_set_position: Point2<Field>,
+    pub striker_kickoff_pose: Pose2<Field>,
 }
 
 #[derive(

diff --git a/etc/parameters/default.json b/etc/parameters/default.json
@@ -1111,7 +1111,10 @@
       "striker_supporter_minimum_x": 2.0,
       "keeper_x_offset": 0.1,
       "striker_distance_to_non_free_center_circle": 0.4,
-      "striker_set_position": [-0.3, 0.0]
+      "striker_kickoff_pose": {
+        "translation": [0.0, 0.3],
+        "rotation": [0.0, -1.0]
+      }
     },
     "dribbling": {
       "hybrid_align_distance": 0.5,