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Searcher Standing Delay #1735

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@paudar paudar commented Mar 13, 2025

Why? What?

Suppress turning of an searcher for a dynamic time after role assignment.
The time depends on the distance to the last known ball position and is scaled with an parameter to estimate a hypothetical ball velocity in m/s.

Fixes #1395

Ideas for Next Iterations (Not This PR)

None

How to Test

You can see the effects in the standing_searcher-scenario.

@paudar paudar force-pushed the defender-searcher-delay branch from 5172c1e to 30b2792 Compare March 13, 2025 20:10
@@ -100,6 +104,18 @@ pub fn execute(
},
None => HeadMotion::SearchForLostBall,
};
let ball_eta = (ground_to_field.inverse() * last_known_ball_position)
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pda

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@oleflb oleflb left a comment

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looks good, only need to fix test cases

@schmidma schmidma added the GO25 label Mar 14, 2025
@paudar paudar force-pushed the defender-searcher-delay branch 2 times, most recently from 17adfbd to effb203 Compare March 14, 2025 07:47
@paudar paudar force-pushed the defender-searcher-delay branch from 40d7f8c to 5b836c0 Compare March 15, 2025 22:17
paudar added 3 commits March 16, 2025 09:23
move functionality of delayed movement of defender that became earcher in searcher

make the standing time after role change dynamic depending on last known ball posiiton

add senario and fmt

rename variable

undo change of if condition

add new edge detection

change ball position in passive_defender_positioning
@paudar paudar force-pushed the defender-searcher-delay branch from f72ab03 to de3527d Compare March 16, 2025 08:26
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