changelog

机器人足球AI设计比赛

2005-09-23  Xu Yuan  <[e-mail]>
	* complete the first version of new localization:
	- it just can work now
	- but it can be advanced more.

2005-09-22  Xu Yuan  <[e-mail]>
	* update the version to seu-3d-0.1.8.b6:
	- fixed bugs of send 'R' and recerive 'T'
	+- add set<Time> in Agent, that can record the 'R'-'T' pair.
	 - when 'Rt' is sent, add the 't' to the set<Time>
	 - and when another action want to send 'Rt1', if 't1'='t', the 'Rt1' will not be sent.
	 - thus, make sure not send the same 'R'
	 - when recerive 'Tt', erase the data which '<t',to keep the set<Time> thin.
	- remove some no need codes

2005-09-20  Xu Yuan  <[e-mail]>
	* modify some files(not code file):
	- modify src/Makefile.am for compiler multiple thread
	- create a bash named converge to collect all the files which needed when run,and tar them.
	- so, set the version to seu-3d-0.1.5.b5
	+ modify converge, make it more smart now.
	- create a bash named compiler to do all compiler work, that it will make a newer work easily.
	- so, set the version to seu-3d-0.1.5.b6
	* add Singleton.h:
	- this is a new template class, it can make sure the object of class is only one
	- for use it, the class public it as a base class
	- and then, you can use MyClass::GetSingleton() freely
	- for advance, you may #define	MYCLASS MyClass::GetSingleton()
	- and now, the Formation and Logger are use this technique.
	+ so, update the version to seu-3d-0.1.6.b6
	* complete the mulitply threads:
	- the two thread can works correctly, but this make the agent need >18MB memory!
	- when not use two thread, the agent only need 8~9MB memory.
	- this makes me trouble: perhaps this area doesn't need mulitply threads.
	- because the action-thread's work is so little. I think if add this work to the main thinking-thread
	- the result will be better.
	+ and now we can compile both mulitply-threads and one-thread agent,just set the Maco.
	- the newest version is seu-3d-0.1.7.b6

2005-09-19  Xu Yuan  <[e-mail]>
	* create a Class ActionDeque:
	- this class used to set the action which will be send
	- and an action thread will send these actions in correct time
	- what need to do is make sure all parts work correctly and smoothly.

2005-09-18  Xu Yuan  <[e-mail]>
	* find the way how to compile a multi-thread program:
	- in this project: SEU-3D, we must set the CPPFLAGS=-I...boost
	- to set the boost install directory

2005-09-17  Xu Yuan  <[e-mail]>
	* import pthread:
	- because of compile problem, it costed me too many hours!
	- and this thread is only print some characters now.
	- but this is the base that we can use mulit-thread technique.

2005-09-05  Xu Yuan  <[e-mail]>
	* test localization:
	- after emerge,the localization is not good enough now
	- i think the new localization need redesign, not just only sum together.
	* about *const*
	- in C++, const is very usefull, it makes the code stronger.
	- so, in this project must use "const" as more as possible.
	* about *bakup*
	- for damage of harddisk, must upload the newest code to the server

2005-09-03  Xu Yuan  <[e-mail]>
	* fixed parseC bug:
	- in class commserver: because of *not* GetInPut,
	- so before use GetMsg, GetInPut is needed.
	* begin test new localization code:
	- the new code is OK, so the next step is test with the old code together.

2005-09-02  Xu Yuan  <[e-mail]>
	* study in localization:
	- try to improve localization
	- start write some new code, but not finished and tested.

2005-09-01  Xu Yuan  <[e-mail]>
	* modify trainer:
	- the trainer can log all the objects' pos, and the PL open a FileLog: localizationLog, to log myPos
	- these are prepared for debuging localization
	- add some comments in trainer.cpp

2005-08-31  Xu Yuan  <[e-mail]>
	* modify Makefile.am:
	- can compile in FC2 now.

2005-08-30  Xu Yuan  <[e-mail]>
	* import UvA's formation:
	- we can use UvA's 433 formation now,and we can import another formation easily.
	* released seu-3d-0.1.5.b3:
	- Aria3d04 1:0		ATH-3D04 0:0
	- Aeolus04 3:0		Aeolus05CZ 0:0		ZJUBase05 0:1
	- yunlu    0:0		DUT_Fantasia 0:1	WrightEagle2005 0:3

2005-08-26  Xu Yuan  <[e-mail]>
	* modify Player:
	- add the different loops for different PL types
	- just now, every loops are the same: defaultPlayOn
	- modify defaultPlayOn, wander to get a better result.

2005-08-24  Xu Yuan  <[e-mail]>
	* rewrite class Formation:
	- 3DFormation.h 3DFormation.cpp => Formation.h Formation.cpp
	- can read the formation from the conf file
	- the conf file data formate is the similar to the server message
	- the new class will be easily used and easily add new function

2005-08-22  Xu Yuan  <[e-mail]>
	* released seu-3d-0.1.4.b3:
	* complete a basic trainer:
	- the trainer can recerive the data from server, and parse it ,record it
	- the trainer can send command to the server, it will make test agent easy
	-- contain set ball's and PL's state, play mode etc.
	- the trainer can load a logfile
	- a base statistic function, can statistic ball position state
	- statistic the some data of the match, and print them after the match or loaded the log file

2005-08-21  Xu Yuan  <[e-mail]>
	* try to create a Joystick or Keyboard PL:
	- beaucse of not implement the input from the joystick and keybaord, it is not implemented
	- need mroe leaning in linux I/O
	* begin to create Trainer:
	- the trainer can connect to the server now
	- but need more work

2005-08-20  Xu Yuan  <[e-mail]>
	* improve intercept ball:
	- isFastestOur, projectInterceptPos, gotoWithMinSpeed

2005-08-19  Xu Yuan  <[e-mail]>
	* study in think time:
	- parse "K" time, send and parse "C" time
	- but both are reply the think time after send done thinking message "D"
	- so the thinking time is the last one, can NOT be used in current thinking.
	
2005-08-18  Xu Yuan  <[e-mail]>
	* released seu-3d-0.1.3.b3:
	- solve the problem of big binary. the binary become 388K from 3.7M. It was cause by the CXXFLAGS,the -g and -O can not be used at the same time. and the agent needs memory become 6.5M from 7.8M.
	- add seu-3d.rb and agentdb.xml to the distrubtion.
	* released seu-3d-0.1.3.b2:
	- modify configure.ac and Makefile.am
	- modify main.cpp : change the agenttest.rb to seu-3d.rb

2005-08-17  Xu Yuan  <[e-mail]>
	* continue BasicPlayer:
	- creat its subclass Player
	- new a class named Skill, this class include PL skills
	- the agent can run strategic position and intercept ball now.
	- remove all the no need .h and .cpp files from the project

2005-08-16  Xu Yuan  <[e-mail]>
	* released seu-3d-0.1.3.b1:
	* complete BasicWorldModel:
	- updateBall is OK now, and the results are as the same as before.
	- updatePlayer is OK now, the results are as the same as before.
	- so the BasicWorldModel is complete:)
	* add new files:
	- Action.h <== SEUSoccerCommand.h
	- Agent.h Agent.cpp Agent_c.h <== behavior.h behavior.cpp behavior_c.cpp soccer.h soccer.cpp soccer_c.cpp
	- BasicPlayer.h BasicPlayer.cpp BasicPlayer_c.cpp <== kicknrun.h kicknrun.cpp kicknrun_c.cpp
	-- class Action and Agent is complete,but not test on line
	-- BasicPlayer need more work.

2005-08-15  Xu Yuan  <[e-mail]>
	* modify Object:
	- imply function template,so the code lines becomes less
	- add a new subclass of Object: FixedObject, it include flags and goals that can't move.
	* contine BasicWorldModel:
	- update objects' vision, and the deque can works well 
	- localization: complete lowFreqSignalFilter and kalmanFilter, and they can work now,
	- *BUT, i am not sure about which is more better ( the old and the new one )*
	- so, it need more test and modify.
	-- after debug, after set the inital global position after beam, the kalmanFilter calculate the same results as the old SEUWorldModel's kalmanFilter.
	
2005-08-14  Xu Yuan  <[e-mail]>
	* released SEU-3D-0.1.2.b1:
	- complete all the parsers:
	-- parseOppTeamName(); parseVision(); parseMsgS(); parseMsgT(); parseAgentState();
	-- and now it can parse all the messages( except "C" ) from the server, and it works well.

2005-08-13  Xu Yuan  <[e-mail]>
	* continue BasicWorldModel:
	- parse current time and the vision time correctly
	- write vision parser, but it can only parse ball correctly just now
	- modify the play mode parser,it can correctly work

2005-08-12  Xu Yuan  <[e-mail]>
	* added new files: Geometry.h Geometry.cpp Object.h Object.cpp BasicWorldModel.h BasicWorldModel.cpp BasicWorldModel_c.cpp
	- added some geometry functions( sinDeg() i.e.),these functions will make the geometry calulation more easily.
	- added new class: Object -> DynamicObject --> PlayerObject --> AgentObject
						   +-> BallObject
	- these object class can include all objects' information in RoboCup3D simulation
	- *these object class need modify in advance*
	- started writing a new world model,the new world model will contain all the functions of class worldmodel in agenttest and class SEUWorldModel in SEU-legend.
	- for the beginning, write a class named BasicWorldModel first.and the full world model can sub form it.
	- the class BasicWorldModel should do: parse, update, filter...
	- and just now, this is only the beginning, it can parse GameState now.
	

2005-08-10  Xu Yuan  <[e-mail]>
	* remove the old log system:
	- use the new logger instead the old logger
	- remove SEU3DLog.h SEU3DLog.cpp
	- creat a FileLogger named msgLog, which log the message from server
	* modify main.cpp:

2005-08-09  Xu Yuan  <[e-mail]>
	* released SEU-3D.0.1.1.b1:
	* write a new log system:
	- the new log system contains two class: Logger and FileLogger
	- Logger is used to trace the agent,it contains two outPuts: stdout and errout
	-- stdout => agent%A-stdout.log  errout => agent%A-errout.log, which are in logfiles/ where server run
	-- stdout can put out in different log-level, this is learned form SEU-2D
	-- I import a new level tree, that can show the log-level easily
	-- Attention! log-level 0 dosen't print level tree, put the log message directly, so log-level 0 can only be used in some suitation.
	- FileLogger is used to record some data,which is needed to adcancedly parse
	-- use FileLogger, we can record data freely, so it can be easily used with other programs(for example Matlab & LogParser)
	-- you can specify the logfile's name, the complete name is logs/logtype-teanmane-num.log
	-- as we know we can't change teamname and num, so we can only specify different logtypes
	-- BUT just now,when agent start,the teamname = '' and num = 0 ,and after serval cycles these are changed, so the FileLogger generate some no need logfiles.I'll find some way to fix it.

2005-08-08  Xu Yuan  <[e-mail]>
	* modify ./share/lib/zeitgeist/Makefile.am:
	- add more include path
	- AM_CPPFLAGS = ...
	* update Makefile.in by using automake
	- but the distrubtion can't include agentdb.xml:(
	- so, add code into Makefile.in manually
	* remove ./share:
	- remove codes from rcssserver3d
	- but,should specify path of rcssserver3d manually(chang a line in ./src/Makefile.am)
	- Sorry for this inconvenience.
	- for soccer/soccertypes.h add -I/usr/include(also in ./src/Makefile.am)

2005-08-07  Xu Yuan  <[e-mail]>
	* released SEU-3D.0.1:
	* creat a new project for SEU-3D
	- agent codes are in ./src
	- some needed codes from rcssserver3d are in ./share
	- modify configure.ac MEWS,README,THANKS,TODO,AUTHORS,etc

2005-04-18  Xu Yuan  <[e-mail]>
	* class SEUWorldModel add some new function:
	- add SetAction
	- add UpdateAction
	- add CalVelByDrive
	- add GetMyVel
	- add etc...
	* modify SEUParse...

before	
2005-04-18  Xu Yuan  <[e-mail]>
	* add our files into agenttest
	- add 3DFormation.h 3DFormation.cpp
	- add SEUParse.h SEUParse.cpp
	- add SEUWorldModel.h SEUWorldModel.cpp
	- add SEUBasicPlayer.h SEUBasicPlayer.cpp