Add sReceiveBall #16
Add sReceiveBall #16
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scripts/skills/sReceiveBall.py
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| def execute(param, state, bot_id): | ||
| ballInitialpos=Vector2D() | ||
| ballFinalpos=Vector2D() | ||
| currentBotpos = Vector2D(state.homePos, botDestination) |
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I don't really think Vector2D has Vector2D(state.homePos, botDestination) as it's constructor !
It should be Vector2D(<x-pos>, <y-pos>) where x-pos and y-pos are of type int and moreover what's botDestination ?
scripts/skills/sReceiveBall.py
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| ballFinalpos=Vector2D() | ||
| currentBotpos = Vector2D(state.homePos, botDestination) | ||
| if(execute.framecount == 1): | ||
| ballInitialpos = state.ballPos |
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I don't think this is right implementation. state.ballPos is of type geometry_msgs.Pose2D which has x, y, theta as it's members whereas ballInitialpos has only two fields (x, y).
scripts/skills/sReceiveBall.py
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| return | ||
| elif((execute.framecount % 10) == 0): | ||
| execute.framecount = 1 | ||
| ballFinalpos = state.ballPos |
scripts/skills/sReceiveBall.py
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| param.GoToPointP.x = botDestination_x | ||
| param.GoToPointP.y = botDestination_y | ||
| param.GoToPointP.finalslope = 0 | ||
| param.GoToPointP(param) |
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This is not correct way of initializing param.GoToPointP
scripts/skills/sReceiveBall.py
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| skill_node.send_command(state.isteamyellow, bot_ID, 0, 0, 0, 0, False) | ||
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| execute.framecount=1 |
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execute.framecount ? What type is execute of ? Explain this bit briefly here.
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execute is the name of the function here. This is an implementation of static variables (of C) in Python. But execute.framecount must be defined as 1 at some point at the beginning of execution, not in each python file separately.
scripts/skills/sReceiveBall.py
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| botDestination_y = (a*c2 - b*c1)/(a*a + b*b) | ||
| param.GoToPointP.x = botDestination_x | ||
| param.GoToPointP.y = botDestination_y | ||
| param.GoToPointP.finalslope = 0 |
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And I don't get this, param.GoToPointP is something that you should use in the skill, what's the point of assigning to it ?
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param.BotConfig is present in the cpp code, whereas it has neither been defined in Cpp nor in Python. I guess we need to rewrite this part.
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@MayankB11 Kindly restart build for the check. |
In sReceiveBall.cpp,
param.BotConfighas been used a couple of times, but it's equivalent was not found in the declaration ofSParam. Hence, I have usedGoToPointPdirectly. Pl comment.