- Cleaning shadow's driver code
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@5953 30fe4595-0a0c-4342-8851-515496e4dcbd Former-commit-id: 53c67651e2fa97178f9dbbe6fd7c82f340d513c0 Former-commit-id: 9f6aecd9954539b8f8b8359b52ebada377ca4ce4
This commit is contained in:
torcs-ng
parent
a8f9d77904
commit
63480a0809
6 changed files with 107 additions and 126 deletions
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@ -10,7 +10,10 @@
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// Construction/Destruction
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//////////////////////////////////////////////////////////////////////
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AveragedData::AveragedData( int nBinsX, double minX, double maxX, int nBinsY, double minY, double maxY )
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AveragedData::AveragedData(
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int nBinsX, double minX, double maxX,
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int nBinsY, double minY, double maxY )
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:
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m_xSize(nBinsX),
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m_xMin(minX),
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@ -4,7 +4,8 @@
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class AveragedData
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{
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public:
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AveragedData( int nBinsX, double minX, double maxX, int nBinsY, double minY, double maxY );
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AveragedData( int nBinsX, double minX, double maxX,
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int nBinsY, double minY, double maxY );
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~AveragedData();
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int GetXSize() const;
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@ -128,6 +128,11 @@ static const double s_sgMax[] = { 0.03, 100 };
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static const int s_sgSteps[] = { 10, 18 };
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TDriver::TDriver(int Index, const int robot_type):
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m_pitControl(m_track, m_pitPath[PATH_NORMAL]),
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m_CarType(0),
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m_driveType(DT_RWD),
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m_gearUpRpm(8000),
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m_XXX(0),
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m_SideScaleMu(0.97),
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@ -142,31 +147,6 @@ TDriver::TDriver(int Index, const int robot_type):
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m_WeatherCode(0),
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m_DryCode(0),
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m_pitControl(m_track, m_pitPath[PATH_NORMAL]),
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m_CarType(0),
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m_driveType(DT_RWD),
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m_gearUpRpm(8000.0),
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m_prevYawError(0.0),
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m_prevLineError(0.0),
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m_Flying(0.0),
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m_avgAY(0.0),
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m_raceStart(false),
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m_avoidS(1.0),
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m_avoidT(0.0),
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m_followPath(PATH_NORMAL),
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m_FuelNeeded(0.0),
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m_steerGraph(2, s_sgMin, s_sgMax, s_sgSteps, 0),
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m_steerAvg(19, 0.001, 0.02, 15, 20, 95),
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m_lastB(0.0),
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m_lastBrk(0.0),
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m_lastTargV(0.0),
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m_Strategy(NULL),
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HasABS(false),
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HasESP(false),
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HasTCL(false),
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@ -174,7 +154,26 @@ TDriver::TDriver(int Index, const int robot_type):
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m_TclRange(10.0),
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m_TclSlip(1.6),
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m_TclFactor(1.0)
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m_TclFactor(1.0),
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m_prevYawError(0),
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m_prevLineError(0),
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m_Flying(0),
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m_avgAY(0),
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m_raceStart(false),
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m_avoidS(1),
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m_avoidT(0),
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m_followPath(PATH_NORMAL),
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m_lastB(0),
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m_lastBrk(0),
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m_lastTargV(0),
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m_maxAccel(0, 150, 30, 1),
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m_steerGraph(2, s_sgMin, s_sgMax, s_sgSteps, 0),
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m_steerAvg(19, 0.001, 0.02, 15, 20, 95),
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m_FuelNeeded(0),
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m_Strategy(NULL)
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{
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INDEX = Index;
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@ -520,7 +519,7 @@ void TDriver::NewRace( tCarElt* pCar, tSituation* pS )
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pItem->pOther = 0;
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pItem->pCar = car;
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m_pShared->m_teamInfo.Add( car->index, pItem );
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LogSHADOW.debug("End Shadow2 NewRace\n");
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LogSHADOW.debug("End Shadow NewRace\n");
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}
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void TDriver::GetPtInfo( int path, double pos, PtInfo& pi ) const
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@ -756,9 +755,10 @@ double TDriver::SteerAngle0( tCarElt* car, PtInfo& pi, PtInfo& aheadPi )
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int k = int(floor((pi.k - K_MIN) / K_STEP));
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int s = int(floor((spd0 - SPD_MIN) / SPD_STEP));
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double ae = 0;
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// double ae = 0; // Moved in if(...) 6th April 2015
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if( k >= 0 && k < K_N && s >= 0 && s < SPD_N )
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{
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double ae = 0;
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ae = m_angle[s][k] - ang;
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}
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@ -830,8 +830,8 @@ double TDriver::SteerAngle2( tCarElt* car, PtInfo& pi, PtInfo& aheadPi )
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// static double oldX = x; // Removed 5th April 2015 - Not Used
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// static double oldY = y; // Removed 5th April 2015 - Not Used
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//double velX = (x - oldX) / 0.02; // Removed 5th April 2015 - Not Used
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//double velY = (y - oldY) / 0.02; // Removed 5th April 2015 - Not Used
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// double velX = (x - oldX) / 0.02; // Removed 5th April 2015 - Not Used
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// double velY = (y - oldY) / 0.02; // Removed 5th April 2015 - Not Used
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// oldX = x; // Removed 5th April 2015 - Not Used
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// oldY = y; // Removed 5th April 2015 - Not Used
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@ -907,7 +907,7 @@ double TDriver::SteerAngle3( tCarElt* car, PtInfo& pi, PtInfo& aheadPi )
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double yawU = car->_yaw_rate;
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// future yaw rate required ahead.
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//double yawV = aheadPi.k * spd0; // Removed 5th April 2015 - Not Used
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// double yawV = aheadPi.k * spd0; // Removed 5th April 2015 - Not Used
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// future yaw required ahead (assuming current yaw to be 0).
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double yawS = aheadPi.oang - car->_yaw;
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@ -1283,7 +1283,7 @@ void TDriver::Drive( tSituation* s )
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m_lastAng = m_lastAng * 0.75 + angle * 0.25;
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}
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//const double G = 9.81; // Removed 5th April 2015 - Not Used
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// const double G = 9.81; // Removed 5th April 2015 - Not Used
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double acc = 1.0;
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double brk = 0;
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@ -1293,6 +1293,7 @@ void TDriver::Drive( tSituation* s )
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bool close = false;
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bool lapper = false;
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AvoidOtherCars( INDEX, car, pi.k, targetSpd, s, close, lapper );
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LogSHADOW.debug("SHADOW AvoidOtherCars\n");
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if( close )
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{
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SpeedControl( SPDC_TRAFFIC, targetSpd, spd0, car, acc, brk );
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@ -2300,8 +2301,8 @@ double TDriver::ApplyTractionControl( tCarElt* car, double acc )
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tract = 0.1;
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wr /= count;
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// double gr = car->_gearRatio[car->_gear + car->_gearOffset]; // Removed 5th April 2015 - Not Used
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// double rpmForSpd = gr * car->_speed_x / wr; // Removed 5th April 2015 - Not Used
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double gr = car->_gearRatio[car->_gear + car->_gearOffset]; // Removed 5th April 2015 - Not Used
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double rpmForSpd = gr * car->_speed_x / wr; // Removed 5th April 2015 - Not Used
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acc = 0;
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}
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@ -2897,7 +2898,7 @@ double TDriver::CalcHairpin(double Speed, double AbsCrv)
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//==========================================================================*
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/*
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//==========================================================================*
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// simplix
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// shadow
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//--------------------------------------------------------------------------*
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double TDriver::CalcCrv_shadow(double Crv)
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{
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@ -2917,7 +2918,7 @@ double TDriver::CalcCrv_shadow(double Crv)
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//==========================================================================*
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*/
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//==========================================================================*
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// simplix
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// shadow
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//--------------------------------------------------------------------------*
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double TDriver::CalcCrv_shadow_LP1(double Crv)
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{
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@ -2944,7 +2945,6 @@ double TDriver::CalcCrv_shadow_Identity(double Crv)
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return 1.0;
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}
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//==========================================================================*
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/*
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//==========================================================================*
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// simplix_sc
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//--------------------------------------------------------------------------*
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@ -2952,7 +2952,7 @@ double TDriver::CalcCrv_shadow_SC(double Crv)
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{
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double Offset = 1300;
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if (oCrvComp)
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if (m_CrvComp)
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{
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if (Crv < 0.0085)
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return 1.0;
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@ -2962,29 +2962,10 @@ double TDriver::CalcCrv_shadow_SC(double Crv)
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else
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return 1.0;
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}
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//==========================================================================*
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//==========================================================================*
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// simplix_36GP
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//--------------------------------------------------------------------------*
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double TDriver::CalcCrv_shadow_36GP(double Crv)
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{
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double Offset = 1300;
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if (oCrvComp)
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{
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if (Crv < 0.0085)
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return 1.0;
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else
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return ((1+Crv) * (400 + Offset)/(1/Crv + Offset));
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}
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else
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return 1.0;
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}
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//==========================================================================*
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*/
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//==========================================================================*
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// simplix_36GP
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// shadow_36GP
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//--------------------------------------------------------------------------*
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double TDriver::CalcCrv_shadow_36GP(double Crv)
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{
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@ -3000,6 +2981,7 @@ double TDriver::CalcCrv_shadow_36GP(double Crv)
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else
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return 1.0;
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}
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//==========================================================================*
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//==========================================================================*
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@ -3009,6 +2991,7 @@ double TDriver::CalcHairpin_shadow_Identity(double Speed, double AbsCrv)
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{
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return Speed;
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}
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//==========================================================================*
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//==========================================================================*
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@ -3069,8 +3052,8 @@ double TDriver::CalcHairpin_shadow(double Speed, double AbsCrv)
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return Speed;
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}
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//==========================================================================*
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//==========================================================================*
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//==========================================================================*
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// If not used for a carset
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//--------------------------------------------------------------------------*
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@ -3078,10 +3061,10 @@ double TDriver::CalcFriction_shadow_Identity(const double Crv)
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{
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return 1.0;
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}
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//==========================================================================*
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//==========================================================================*
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// simplix_ls2
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//==========================================================================*
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// shadow_ls2
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//--------------------------------------------------------------------------*
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double TDriver::CalcFriction_shadow_LS2(const double Crv)
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{
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@ -3121,9 +3104,8 @@ double TDriver::CalcFriction_shadow_LS2(const double Crv)
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}
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//==========================================================================*
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//==========================================================================*
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// simplix
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// shadow_LP1
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//--------------------------------------------------------------------------*
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double TDriver::CalcFriction_shadow_LP1(const double Crv)
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{
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@ -3163,9 +3145,8 @@ double TDriver::CalcFriction_shadow_LP1(const double Crv)
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}
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//==========================================================================*
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//==========================================================================*
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// simplix
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// shadow_REF
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//--------------------------------------------------------------------------*
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double TDriver::CalcFriction_shadow_REF(const double Crv)
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{
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@ -3204,10 +3185,9 @@ double TDriver::CalcFriction_shadow_REF(const double Crv)
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return FrictionFactor * m_XXX;
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}
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//==========================================================================*
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//==========================================================================*
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// simplix_TRB1
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// simplix_GP36
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// shadow_TRB1
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// shadow_GP36
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//--------------------------------------------------------------------------*
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void TDriver::CalcSkilling_shadow()
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{
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@ -3223,9 +3203,8 @@ void TDriver::CalcSkilling_shadow()
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*/
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}
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//==========================================================================*
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//==========================================================================*
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// simplix_ls1
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// shadow_ls1
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//--------------------------------------------------------------------------*
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void TDriver::CalcSkilling_shadow_LS1()
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{
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@ -3234,9 +3213,8 @@ void TDriver::CalcSkilling_shadow_LS1()
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Skill = SkillScale * (SkillGlobal + SkillDriver) + SkillOffset;
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}
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//==========================================================================*
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//==========================================================================*
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// simplix_ls2
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// shadow_ls2
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//--------------------------------------------------------------------------*
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void TDriver::CalcSkilling_shadow_LS2()
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{
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@ -3245,9 +3223,8 @@ void TDriver::CalcSkilling_shadow_LS2()
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Skill = SkillScale * (SkillGlobal + SkillDriver) + SkillOffset;
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}
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//==========================================================================*
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//==========================================================================*
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// simplix_MPA1
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// shadow_MPA1
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//--------------------------------------------------------------------------*
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void TDriver::CalcSkilling_shadow_MPA1()
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{
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@ -3256,9 +3233,8 @@ void TDriver::CalcSkilling_shadow_MPA1()
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Skill = SkillScale * (SkillGlobal + SkillDriver) + SkillOffset;
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}
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//==========================================================================*
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//==========================================================================*
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// simplix_SC
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// shadow_SC
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//--------------------------------------------------------------------------*
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void TDriver::CalcSkilling_shadow_SC()
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{
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@ -3269,9 +3245,8 @@ void TDriver::CalcSkilling_shadow_SC()
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}
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//==========================================================================*
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//==========================================================================*
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// simplix_lp1
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// shadow_lp1
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//--------------------------------------------------------------------------*
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void TDriver::CalcSkilling_shadow_LP1()
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{
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@ -3280,7 +3255,6 @@ void TDriver::CalcSkilling_shadow_LP1()
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Skill = SkillScale * (SkillGlobal + SkillDriver) + SkillOffset;
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}
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//==========================================================================*
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//==========================================================================*
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// Set name of robot (and other appendant features)
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//--------------------------------------------------------------------------*
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@ -3290,7 +3264,6 @@ void TDriver::SetBotName(const char* Value)
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LogSHADOW.debug("#Car Name : %s\n" , m_CarType);
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};
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//==========================================================================*
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//==========================================================================*
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// Set scaling factor for avoiding racinglines
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//--------------------------------------------------------------------------*
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@ -3300,7 +3273,6 @@ void TDriver::ScaleSide(float FactorMu, float FactorBrake)
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m_SideScaleBrake = FactorBrake;
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}
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//==========================================================================*
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//==========================================================================*
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// Set additional border to outer side
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//--------------------------------------------------------------------------*
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@ -3309,7 +3281,6 @@ void TDriver::SideBorderOuter(float Factor)
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m_SideBorderOuter = Factor;
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}
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//==========================================================================*
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//==========================================================================*
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// Set additional border to inner side
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//--------------------------------------------------------------------------*
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@ -3318,7 +3289,6 @@ void TDriver::SideBorderInner(float Factor)
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m_SideBorderInner = Factor;
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}
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//==========================================================================*
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//==========================================================================*
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// Meteorology
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//--------------------------------------------------------------------------*
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@ -3334,8 +3304,7 @@ void TDriver::Meteorology()
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{
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Surf = Seg->surface;
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m_RainIntensity = MAX(m_RainIntensity, Surf->kFrictionDry / Surf->kFriction);
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//GfLogDebug("# %.4f, %.4f %s\n",
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// Surf->kFriction, Surf->kRollRes, Surf->material);
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GfLogDebug("# %.4f, %.4f %s\n",Surf->kFriction, Surf->kRollRes, Surf->material);
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Seg = Seg->next;
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}
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@ -230,7 +230,8 @@ public:
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double CalcFriction_shadow_LP1(double Crv);
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double CalcFriction_shadow_REF(double Crv);
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//double CalcCrv_shadow(double Crv);
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double CalcCrv_shadow(double Crv);
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double CalcCrv_shadow_SC(double Crv);
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double CalcCrv_shadow_Identity(double Crv);
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double CalcCrv_shadow_36GP(double Crv);
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double CalcCrv_shadow_LP1(double Crv);
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@ -254,18 +255,6 @@ public:
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float m_DeltaAccel; //
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float m_DeltaAccelRain; //
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double m_XXX;
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float m_SideScaleMu;
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float m_SideScaleBrake;
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float m_SideBorderOuter;
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float m_SideBorderInner;
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bool m_Rain;
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double m_RainIntensity;
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double m_ScaleMuRain;
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double m_ScaleBrakeRain;
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int m_WeatherCode; // Track specific weather
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int m_DryCode; // Track specific dry weather
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double m_BrakeCoeff[NBR_BRAKECOEFF+1]; // Brake coefficients
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int m_LastBrakeCoefIndex; // Index of last brake coef.
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double m_LastTargetSpeed; // Last target speed
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@ -333,7 +322,30 @@ private:
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tSituation *m_Situation; // situation
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int m_driveType;
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double m_gearUpRpm; // for gear changing.
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double m_gearUpRpm; // for gear changing.
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double m_XXX;
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||||
float m_SideScaleMu;
|
||||
float m_SideScaleBrake;
|
||||
float m_SideBorderOuter;
|
||||
float m_SideBorderInner;
|
||||
bool m_Rain;
|
||||
double m_RainIntensity;
|
||||
double m_ScaleMuRain;
|
||||
double m_ScaleBrakeRain;
|
||||
int m_WeatherCode; // Track specific weather
|
||||
int m_DryCode; // Track specific dry weather
|
||||
|
||||
bool HasABS;
|
||||
bool HasESP;
|
||||
bool HasTCL;
|
||||
bool HasTYC;
|
||||
|
||||
double m_TclRange; // TCL range
|
||||
double m_TclSlip; // Max TCL slip
|
||||
double m_TclFactor; // TCL scale
|
||||
|
||||
PidController m_lineControl; // controller for line error.
|
||||
PidController m_velAngControl; // controller for direction of car.
|
||||
PidController m_angControl; // controller for attack angle error.
|
||||
|
|
@ -358,28 +370,30 @@ private:
|
|||
double m_attractor; // where we want to be.
|
||||
int m_followPath; // path we want to follow;
|
||||
|
||||
LinearRegression m_accBrkCoeff; //
|
||||
double m_brkCoeff[50];
|
||||
double m_steerCoeff[STEER_SPD_MAX][STEER_K_MAX];
|
||||
|
||||
int m_lastB;
|
||||
double m_lastBrk;
|
||||
double m_lastTargV;
|
||||
|
||||
LearnedGraph m_maxAccel;
|
||||
double m_angle[SPD_N][K_N];
|
||||
|
||||
LearnedGraph m_steerGraph;
|
||||
AveragedData m_steerAvg;
|
||||
|
||||
double m_FuelNeeded;
|
||||
double m_RepairNeeded;
|
||||
|
||||
LinearAttractor m_avoidX;
|
||||
LinearAttractor m_avoidY;
|
||||
|
||||
LearnedGraph m_maxAccel;
|
||||
double m_angle[SPD_N][K_N];
|
||||
|
||||
Vec2d m_lastPts[HIST];
|
||||
double m_lastSpd;
|
||||
double m_lastAng;
|
||||
|
||||
LinearRegression m_accBrkCoeff; //
|
||||
double m_brkCoeff[50];
|
||||
double m_steerCoeff[STEER_SPD_MAX][STEER_K_MAX];
|
||||
LearnedGraph m_steerGraph;
|
||||
AveragedData m_steerAvg;
|
||||
int m_lastB;
|
||||
double m_lastBrk;
|
||||
double m_lastTargV;
|
||||
|
||||
AbstractStrategy *m_Strategy; // Pit strategy
|
||||
|
||||
bool m_CrvComp; // Crv compensation
|
||||
|
|
@ -402,15 +416,6 @@ private:
|
|||
|
||||
unsigned int RandomSeed; // seed of generator
|
||||
|
||||
bool HasABS;
|
||||
bool HasESP;
|
||||
bool HasTCL;
|
||||
bool HasTYC;
|
||||
|
||||
double m_TclRange; // TCL range
|
||||
double m_TclSlip; // Max TCL slip
|
||||
double m_TclFactor; // TCL scale
|
||||
|
||||
double CA;
|
||||
double CW;
|
||||
double CR;
|
||||
|
|
|
|||
|
|
@ -86,7 +86,7 @@ void SimpleStrategy::setFuelAtRaceStart(tTrack* t, void **carParmHandle, tSituat
|
|||
}
|
||||
|
||||
m_expectedfuelperlap = fuelPerLap;
|
||||
double raceDist = 0.0;
|
||||
//double raceDist = 0.0; // Removed 6th April 2015 - Not Used
|
||||
float fuelForRace = 0.0;
|
||||
int numPitstop = 0;
|
||||
int raceLaps = s->_totLaps + 1;
|
||||
|
|
@ -364,7 +364,7 @@ float SimpleStrategy::pitRefuel(tCarElt* car, tSituation *s)
|
|||
int lapsToEnd;
|
||||
|
||||
lapsToEnd = car->_remainingLaps - car->_lapsBehindLeader;
|
||||
int inLap = s->_totLaps - car->_remainingLaps;
|
||||
// int inLap = s->_totLaps - car->_remainingLaps; // Removed 6th April 2015 - Not Used
|
||||
fuelToEnd = MIN(getRefuel1(lapsToEnd), getRefuel2(lapsToEnd));
|
||||
|
||||
//m_remainingstops = int(floor(fuelToEnd / car->_tank));
|
||||
|
|
|
|||
|
|
@ -62,6 +62,8 @@ protected:
|
|||
bool releasePit;
|
||||
|
||||
public:
|
||||
AbstractStrategy()
|
||||
:oState(PIT_NONE), oGoToPit(false), Car(NULL), Track(NULL), pitPath(NULL), Driver(NULL), DistToSwitch(100), StartFuel(-1){};
|
||||
// Need this empty constructor... do not remove.
|
||||
virtual ~AbstractStrategy() {}
|
||||
// Set Initial fuel at race start.
|
||||
|
|
@ -77,8 +79,9 @@ public:
|
|||
// Pit Free?
|
||||
virtual bool isPitFree(tCarElt* car) = 0;
|
||||
|
||||
tCarElt *Car; // TORCS-Daten
|
||||
tTrack *Track; // Track-Daten
|
||||
tCarElt *Car;
|
||||
tTrack *Track;
|
||||
PitPath *pitPath;
|
||||
TDriver *Driver;
|
||||
//Pit Pit;
|
||||
//TDriver Driver;
|
||||
|
|
|
|||
Loading…
Reference in a new issue