void SideConfidenceProvider::update(SideConfidence& sideConfidence)
{
// Debug stuff
DECLARE_PLOT("module:SideConfidenceProvider:originalWeighting");
DECLARE_PLOT("module:SideConfidenceProvider:mirroredWeighting");
// Setting the time when the robot has a good stand
if(theFallDownState.state != theFallDownState.upright &&
theFallDownState.state != theFallDownState.undefined &&
theFallDownState.state != theFallDownState.staggering &&
theFrameInfo.getTimeSince(timeOfLastFall) > 8000)
timeOfLastFall = theFrameInfo.time;
// Setting the time when the robot not has arm contact
if(!theArmContactModel.contactLeft && !theArmContactModel.contactRight)
lastTimeWithoutArmContact = theFrameInfo.time;
// Remove old entries from confidence buffer
while(!confidenceBuffer.empty())
{
if(theFrameInfo.getTimeSince(confidenceBuffer.back().timeStamp) > maxBufferAge)
confidenceBuffer.pop_back();
else
break;
}
updateBallConfidences(sideConfidence);
updateSideConfidenceFromOthers(sideConfidence);
updateSideConfidenceFromOwn(sideConfidence);
updateConfidenceState(sideConfidence);
// MOOOOH!
if(sideConfidence.mirror)
SystemCall::playSound("theMirrorCow.wav");
}
void SideConfidenceProvider::update(SideConfidence& sideConfidence)
{
MODIFY("parameters:SideConfidenceProvider", parameters);
updateBallConfidences();
updateSideConfidenceFromOthers(sideConfidence);
updateSideConfidenceFromOwn(sideConfidence);
handleAloneAndConfused(sideConfidence);
updateConfidenceState(sideConfidence);
// Setting some timings
lastFrameTime = theFrameInfo.time;
// Setting the time when not in own penalty area
if(!(theRobotPose.translation.x < theFieldDimensions.xPosOwnPenaltyArea && abs(theRobotPose.translation.y) < theFieldDimensions.yPosLeftPenaltyArea))
timeWhenEnteredOwnPenaltyArea = theFrameInfo.time;
// Setting the distance walked when not having a bad validity
if(theRobotPose.validity > parameters.halfPercentage)
lastDistanceWalkedAtHighValidity = theOdometer.distanceWalked;
// Setting the time when the robot has a good stand
if((theFallDownState.state != theFallDownState.upright &&
theFallDownState.state != theFallDownState.undefined &&
theFallDownState.state != theFallDownState.staggering) && (theFrameInfo.getTimeSince(timeOfLastFall) > 8000)
&& !robotHasFallen)
{
timeOfLastFall = theFrameInfo.time;
robotHasFallen = true;
}
// Setting the time when the robot not has arm contact
if(!theArmContactModel.contactLeft && !theArmContactModel.contactRight)
lastTimeWithoutArmContact = theFrameInfo.time;
}