rcssserver-19.0.0

[19.0.0]

• New prameters:

  • server::dist_noise_rate (default value: 0.0125)
  • server::focus_dist_noise_rate (default value: 0.0125)
  • server::land_dist_noise_rate (default value: 0.00125)
  • server::land_focus_dist_noise_rate (default value: 0.00125)

• New command:

  • "(dash (l POWER DIR) (r POWER DIR))"
    This is an extension of the dash command. All version players
    can use this format. If the command is accepted, players can
    perform acceleration and direction change simultaneously based
    on the bipedal dash model.

  • "(gaussian_see)"
    All version players can use this command. If the command is
    accepted, rcssserver sent a reply message, "(ok gaussian_see)".
    This command is used for a gaussian noise mode describing below.

• Introduce a bipedal dash model. Players can now independently
  issue dash commands to the left and right legs. This means that
  players can now apply different accelerations to each leg. With
  the bipedal dash model, players can perform acceleration and
  direction changes simultaneously, governed by differential drive
  kinematics.

  The rotation is calculated as:

  rotation = (left_leg_vel.bx - right_leg_vel.bx)/(player_size*2)

  where bx is the x-component of the vector with the player's
  body direction as the x-axis.

  The player's result velocity is calculated as:

  vel = (left_leg_vel + right_leg_vel)/2

  Stamina is consumed independently on the left and right legs,
  and the total consumption is the sum of half of each leg:

  stamina = stamina - (left_consumed/2 + right_consumed/2)

• Introduce a new gaussian observation noise model. This model is
  activated by "(gaussian_see)" command and replaces the previous
  quantization model. In this model, In this model, the noised
  distance in the player's observation is determined by a
  Gaussian distribution:

  stddev = actual_dist * noise_rate + focus_dist * focus_noise_rate
  noised_dist = max(0.0, normal_distribution(actual_dist, stddev))

  where normal_distribution(mean, stddev) is a random number
  generator based on a Gaussian distribution with given mean and
  standard deviation. actual_dist represents the actual distance
  between the observed object and the player, while focus_dist is
  the distance between the observed object and the player's focus
  point. noise_rate and focus_noise_rate are determined by
  heterogeneous parameters, with default values defined as new
  server parameters, uniformly set for all player types in the
  current version. For ball and player observation,
  server::dist_noise_rate and server::focus_dist_noise_rate are
  applied, while for flags (landmark objects), server::land_dist_noise_rate
  and server::focus_dist_noise_rate are applied.

  The velocity noise formula is similar to the previous one.
  The formula of dir_chg remains unchanged, while dist_chg is
  calculated as:

  dist_chg = actual_dist_chg * noised_dist / actual_dist

  where actual_dist_chg represents the x-component of the velocity
  vector with the direction from the player to the observed object
  as the x-axis. The resulting dist_chg value is rounded to two
  decimal places before being sent.

• Improve the JSON game log format. The format of each data has
  been reviewed to make it easier to parse and the JSON rcg is
  now recorded as a pure JSON file. The parser library is bundled
  in rcssmonitor.