ゴールキーパーの修正 (#532)

ibis-ssl · Aug 17, 2024 · 7523a63 · 7523a63
1 parent 8bc4c14
commit 7523a63
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Showing 2 changed files with 4 additions and 0 deletions.
diff --git a/crane_robot_skills/src/goalie.cpp b/crane_robot_skills/src/goalie.cpp
@@ -129,6 +129,8 @@ void Goalie::inplay(bool enable_emit, const ConsaiVisualizerWrapper::SharedPtr &
       phase = "";
       const double BLOCK_DIST = getParameter<double>("block_distance");
       phase += "ボールを待ち受ける";
+      // デフォルト位置設定
+      command.setTargetPosition(world_model()->getOurGoalCenter()).lookAt(Point(0, 0));
       if (std::signbit(world_model()->ball.pos.x()) == std::signbit(world_model()->goal.x())) {
         phase += " (自コート警戒モード)";
         Segment ball_prediction_4s(ball.pos, ball.pos + ball.vel * 4.0);

diff --git a/session/crane_planner_plugins/src/their_penalty_kick_planner.cpp b/session/crane_planner_plugins/src/their_penalty_kick_planner.cpp
@@ -34,6 +34,8 @@ TheirPenaltyKickPlanner::calculateRobotCommand(
       cmd.setTargetPosition(world_model->getOurGoalCenter());
       cmd.lookAtBall();
       cmd.setMaxVelocity(1.5);
+      cmd.disableRuleAreaAvoidance();
+      cmd.disableGoalAreaAvoidance();
     } else {
       [[maybe_unused]] auto status = goalie->run(visualizer);
     }