Merge pull request rcsoccersim#8 from wbwatkinson/add-y-params

Add ball y parameters for HFORef::resetField()

Author: mhauskn

src/referee.cpp

@@ -3235,7 +3235,13 @@ HFORef::resetField()
     max_ball_x = std::max(max_ball_x, min_ball_x);
     double ball_x = drand(min_ball_x * half_pitch_length,
                           max_ball_x * half_pitch_length, M_rng);
-    double ball_y = drand(-.4 * pitch_width, .4 * pitch_width, M_rng);
+    double min_ball_y =
+        std::max(std::min(ServerParam::instance().hfoMinBallY(), 1.), -1.);
+    double max_ball_y =
+        std::max(std::min(ServerParam::instance().hfoMaxBallY(), 1.), -1.);
+    max_ball_y = std::max(max_ball_y, min_ball_y);
+    double ball_y = drand(min_ball_y / 2.0 * pitch_width,
+                          max_ball_y / 2.0 * pitch_width, M_rng);
     M_stadium.placeBall( NEUTRAL, PVector(ball_x, ball_y) );
     M_prev_ball_pos = M_stadium.ball().pos();
     boost::variate_generator<boost::mt19937&, boost::uniform_int<> >

src/serverparam.cpp

@@ -858,6 +858,8 @@ ServerParam::addParams()
     addParam( "hfo_offense_on_ball", M_hfo_offense_on_ball, "", 9 );
     addParam( "hfo_min_ball_pos_x", M_hfo_min_ball_pos_x, "", 9 );
     addParam( "hfo_max_ball_pos_x", M_hfo_max_ball_pos_x, "", 9 );
+    addParam( "hfo_min_ball_pos_y", M_hfo_min_ball_pos_y, "", 9 );
+    addParam( "hfo_max_ball_pos_y", M_hfo_max_ball_pos_y, "", 9 );
 
     addParam( "nr_normal_halfs",
               rcss::conf::makeSetter( this, &ServerParam::setNrNormalHalfs ),

src/serverparam.h

@@ -427,6 +427,8 @@ class ServerParam {
     int M_hfo_offense_on_ball; /* Give the ball to an offensive player */
     double M_hfo_min_ball_pos_x; /* Governs the initialization x-position of ball */
     double M_hfo_max_ball_pos_x; /* Governs the initialization x-position of ball */
+    double M_hfo_min_ball_pos_y; /* Governs the initialization y-position of ball */
+    double M_hfo_max_ball_pos_y; /* Governs the initialization y-position of ball */
     int M_port; /* port number */
     int M_coach_port; /* coach port number */
     int M_olcoach_port; /* online coach port number */
@@ -772,6 +774,8 @@ class ServerParam {
     int hfoOffenseOnBall() const { return M_hfo_offense_on_ball; }
     double hfoMinBallX() const { return M_hfo_min_ball_pos_x; }
     double hfoMaxBallX() const { return M_hfo_max_ball_pos_x; }
+    double hfoMinBallY() const { return M_hfo_min_ball_pos_y; }
+    double hfoMaxBallY() const { return M_hfo_max_ball_pos_y; }
 
     double cornerKickMargin() const { return M_corner_kick_margin; }
     double offsideActiveArea() const { return M_offside_active_area_size; }