add ball reidentification #1788
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schmidma
requested changes
Mar 25, 2025
crates/ball_filter/src/hypothesis.rs
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| pub fn identifier(&self) -> u64 { | ||
| self.identifier | ||
| } | ||
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| pub fn set_identifier(&mut self, identifier: u64) { | ||
| self.identifier = identifier; | ||
| } | ||
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if you have public getter and setter, why not make the member public in the first place?
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| pub fn set_last_output_identifier(&mut self, identifier: Option<u64>) { | ||
| self.last_output_hypothesis_identifier = identifier; | ||
| } | ||
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crates/ball_filter/src/lib.rs
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| pub fn best_hypothesis(&self, validity_threshold: f32) -> Option<&BallHypothesis> { | ||
| self.hypotheses | ||
| .iter() | ||
| .filter(|hypothesis| hypothesis.validity >= validity_threshold) | ||
| .max_by(|a, b| a.validity.partial_cmp(&b.validity).unwrap()) | ||
| } | ||
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| pub fn last_output_hypothesis_if_available(&self) -> Option<&BallHypothesis> { |
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Suggested change
| pub fn last_output_hypothesis_if_available(&self) -> Option<&BallHypothesis> { | |
| pub fn last_output_hypothesis(&self) -> Option<&BallHypothesis> { |
crates/control/src/ball_filter.rs
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| @@ -187,7 +191,17 @@ impl BallFilter { | |||
| .expect("time ran backwards"); | |||
| let validity_high_enough = | |||
| hypothesis.validity >= filter_parameters.validity_discard_threshold; | |||
| let ball_kicked = matches!(walking_engine_mode, Mode::Kicking(_)); | |||
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| let ball_kicked = matches!( | |||
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Suggested change
| let ball_kicked = matches!( | |
| let ball_kicked_with_side_kick = matches!( |
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Why? What?
Adds ball reidentification to the ball filter.
Also disables removing ball hypotheses in kicks (except side)
Fixes #
ToDo / Known Issues
If this is a WIP describe which problems are to be fixed.
Ideas for Next Iterations (Not This PR)
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