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[Garden] Wildlife scoring plugin - Part2 #547

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merged 6 commits into from
Dec 1, 2022
Merged

[Garden] Wildlife scoring plugin - Part2 #547

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7736275
All code ported.
caguero Nov 21, 2022
928721f
Plugin added to the wildlife world.
caguero Nov 21, 2022
a7626f6
Plugin working.
caguero Nov 24, 2022
d03679b
Fix contacts.
caguero Nov 24, 2022
32b09fa
tweaks to comments
M1chaelM Dec 1, 2022
2f77bdf
Feedback
caguero Dec 1, 2022
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Signed-off-by: Carlos Agüero <caguero@osrfoundation.org>
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@caguero
caguero committed Dec 1, 2022
commit 2f77bdf922221ca204aa17714c9f7d4bb021b1fd
17 changes: 4 additions & 13 deletions vrx_gz/src/WildlifeScoringPlugin.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -141,9 +141,6 @@ VirtualGate::VirtualGate(const sim::Entity _leftMarkerEntity,
/////////////////////////////////////////////////
void VirtualGate::Update()
{
if (this->leftMarkerEntity == sim::kNullEntity)
return;

// The pose of the markers delimiting the virtual gate.
auto comp =
this->ecm.Component<sim::components::WorldPose>(this->leftMarkerEntity);
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Expand Down Expand Up @@ -271,7 +268,6 @@ Buoy::Buoy(const std::string &_entityName,
offset.X(this->engagementDistance * cos(alpha));
offset.Y(this->engagementDistance * sin(alpha));

sim::enableComponent<sim::components::WorldPose>(_ecm, this->entity, true);
auto comp = this->ecm.Component<sim::components::WorldPose>(this->entity);
if (!comp)
{
Expand Down Expand Up @@ -615,7 +611,7 @@ void WildlifeScoringPlugin::PreUpdate(const sim::UpdateInfo &_info,
if (taskCompleted)
{
gzmsg << "Course completed!" << std::endl;
this->SetScore(std::max(0.0, this->Score() - this->dataPtr->TimeBonus()));
this->SetScore(this->Score() - this->dataPtr->TimeBonus());
this->Exit();
}
}
Expand Down Expand Up @@ -770,12 +766,8 @@ double WildlifeScoringPlugin::Implementation::TimeBonus() const
{
totalBonus += this->timeBonus;
}
else if (buoy.goal == BuoyGoal::CIRCUMNAVIGATE_CLOCKWISE &&
buoy.state == BuoyState::CIRCUMNAVIGATED)
{
totalBonus += this->timeBonus;
}
else if (buoy.goal == BuoyGoal::CIRCUMNAVIGATE_COUNTERCLOCKWISE &&
else if ((buoy.goal == BuoyGoal::CIRCUMNAVIGATE_CLOCKWISE ||
buoy.goal == BuoyGoal::CIRCUMNAVIGATE_COUNTERCLOCKWISE) &&
buoy.state == BuoyState::CIRCUMNAVIGATED)
{
totalBonus += this->timeBonus;
Expand All @@ -795,8 +787,7 @@ void WildlifeScoringPlugin::OnCollision()
//////////////////////////////////////////////////
void WildlifeScoringPlugin::OnFinished()
{
this->SetTimeoutScore(
std::max(0.0, this->Score() - this->dataPtr->TimeBonus()));
this->SetTimeoutScore(this->Score() - this->dataPtr->TimeBonus());
ScoringPlugin::OnFinished();
}

Expand Down