feat: add visual blind zone #181
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Issue or RFC Endorsed by GrSim's Maintainers
None.
Description of the Change
In real-world scenarios, visual blind zones on the field can occur due to potential obstructions to the camera's field of view by robots. This can often lead to missed offensive opportunities, as our robots' behaviors can become undefined or poorly tested when they lose sight of the ball.
However, this cannot be simulated using grsim, as it acquires the position of the ball directly through ODE. This is an implementation so that visual blind zones are simulated. (disabled by default in the configuration tree)
We are Team SRC of Shanghai Jiao Tong University, and we plan to include this improvement in our ETDP. If more information is needed, we can provide an incomplete ETDP.
Alternate Designs
None.
Possible Drawbacks
A ball above the ground is not considered (e.g. a chip pass)
Verification Process
Using modified grsim as simulator and our own system receiving the vision packet, the ball information is not included in the packet if it is blocked by other robots.
Tested on Windows 10.
Release Notes
Add visual blind zone.