def _get_average_absolute_velocity(self, calculated_velocity, now):
if calculated_velocity is None:
return None
current_velocity = calculated_velocity
if current_velocity.magnitude() < 0.09:
return Vector2D(0, 0)
if current_velocity.magnitude() < 0.14:
return current_velocity * 0.5
avg_magnitude = current_velocity.magnitude() * 1.4
avg_direction_delta = 0
total_weight = 1.4
previous_time = now
points_used = 0
for i, velocity_and_time in enumerate(self.velocity_history.list):
velocity = velocity_and_time[0]
time = velocity_and_time[1]
if velocity.magnitude() < 0.05:
break
weight = max(1.0, (1.4 - (i + 1) * 0.1))
time_delta = previous_time - time
projected_velocity: Vector2D = velocity.decayed(
BALL_DECAY, now - time)
angle_delta = smallest_angle_difference(
from_angle=current_velocity.direction(),
to_angle=projected_velocity.direction())
speed_delta = projected_velocity.magnitude(
) - current_velocity.magnitude()
MAX_ANGLE_DELTA = 8
MAX_SPEED_DELTA = 0.3
MAX_TIME_DELTA = 7
if abs(angle_delta) > MAX_ANGLE_DELTA or abs(
speed_delta
) > MAX_SPEED_DELTA or time_delta > MAX_TIME_DELTA:
##print("DELTA TOO BIG. Angle: ", angle_delta, "| Speed:", speed_delta, "time delta", time_delta)
break
avg_magnitude += projected_velocity.magnitude() * weight
avg_direction_delta += angle_delta * weight
total_weight += weight
points_used += 1
avg_magnitude /= total_weight
avg_direction_delta /= total_weight
avg_direction = (current_velocity.direction() +
avg_direction_delta) % 360
final_projection = Vector2D.velocity_to_xy(velocity=avg_magnitude,
degrees=avg_direction)
"""print("HISTORY (used {0}): ".format(points_used), list(map(lambda v: v[0].world_direction(), self.velocity_history.list)))
print("HISTORY (used {0}): ".format(points_used), list(map(lambda v: v[0].magnitude(), self.velocity_history.list)))
print("AVERAGE vector:", final_projection, "| angle: ", final_projection.world_direction(), "| speed:", final_projection.magnitude())
"""
return final_projection
def get_y_north_velocity_vector(self):
return Vector2D.velocity_to_xy(
self.body_state.speed, inverse_y_axis(self.body_angle.get_value()))
