rcssserver-19.0.0

[19.0.0]

• New prameters:

  • server::dist_noise_rate (default value: 0.0125)
  • server::focus_dist_noise_rate (default value: 0.0125)
  • server::land_dist_noise_rate (default value: 0.00125)
  • server::land_focus_dist_noise_rate (default value: 0.00125)

• New command:

  • "(dash (l POWER DIR) (r POWER DIR))"
    This is an extension of the dash command. All version players
    can use this format. If the command is accepted, players can
    perform acceleration and direction change simultaneously based
    on the bipedal dash model.

  • "(gaussian_see)"
    All version players can use this command. If the command is
    accepted, rcssserver sent a reply message, "(ok gaussian_see)".
    This command is used for a gaussian noise mode describing below.

• Introduce a bipedal dash model. Players can now independently
  issue dash commands to the left and right legs. This means that
  players can now apply different accelerations to each leg. With
  the bipedal dash model, players can perform acceleration and
  direction changes simultaneously, governed by differential drive
  kinematics.

  The rotation is calculated as:

  rotation = (left_leg_vel.bx - right_leg_vel.bx)/(player_size*2)

  where bx is the x-component of the vector with the player's
  body direction as the x-axis.

  The player's result velocity is calculated as:

  vel = (left_leg_vel + right_leg_vel)/2

  Stamina is consumed independently on the left and right legs,
  and the total consumption is the sum of half of each leg:

  stamina = stamina - (left_consumed/2 + right_consumed/2)

• Introduce a new gaussian observation noise model. This model is
  activated by "(gaussian_see)" command and replaces the previous
  quantization model. In this model, In this model, the noised
  distance in the player's observation is determined by a
  Gaussian distribution:

  stddev = actual_dist * noise_rate + focus_dist * focus_noise_rate
  noised_dist = max(0.0, normal_distribution(actual_dist, stddev))

  where normal_distribution(mean, stddev) is a random number
  generator based on a Gaussian distribution with given mean and
  standard deviation. actual_dist represents the actual distance
  between the observed object and the player, while focus_dist is
  the distance between the observed object and the player's focus
  point. noise_rate and focus_noise_rate are determined by
  heterogeneous parameters, with default values defined as new
  server parameters, uniformly set for all player types in the
  current version. For ball and player observation,
  server::dist_noise_rate and server::focus_dist_noise_rate are
  applied, while for flags (landmark objects), server::land_dist_noise_rate
  and server::focus_dist_noise_rate are applied.

  The velocity noise formula is similar to the previous one.
  The formula of dir_chg remains unchanged, while dist_chg is
  calculated as:

  dist_chg = actual_dist_chg * noised_dist / actual_dist

  where actual_dist_chg represents the x-component of the velocity
  vector with the direction from the player to the observed object
  as the x-axis. The resulting dist_chg value is rounded to two
  decimal places before being sent.

• Improve the JSON game log format. The format of each data has
  been reviewed to make it easier to parse and the JSON rcg is
  now recorded as a pure JSON file. The parser library is bundled
  in rcssmonitor.

rcssserver-18.1.3

[18.1.3]

• Fix an issue in the penalty shootouts referee. If both teams
  score the same when finishing all extended trials, the penalty
  shootouts referee will not end the game and the simulator will
  get stuck. Thanks go to Omid Amini for providing the patch.

[18.1.2]

• Fix a problem of v18 observation noise model. Quantized distance
  values affected by the focus point are now rounded to one decimal
  place.

[18.1.1]

• Fix a problem in which the focus point is sometimes not updated.

[18.1.0]

• Revert the message frequency and the noise model of the visual
  information. Now, these settings are same as 17.0.1.

[18.0.0]

• Update to C++17.

• New command:

  • "(change_focus DIST_MOMENT DIR_MOMENT)"
    All version players can use this command. If the command is
    accepted, that player's focus point is moved according to the
    given parameters. Details are described below.

• Change the version number of JSON-based monitor protocol to -1.
  And, change the header line of JSON-based game log to "JSON". If
  the value of server::game_log_version is -1, the content of the
  recorded game log is a JSON array except for the header line.

• Introduce a new observation model.

  When the players connect with version 18 or higher, the vision
  sensor automatically enters the synchronous mode.

  The concept of focus points is introduced. The focus point
  represents a position inside a player's view angle, and can be up
  to 40.0 meters away from the player's position. The focus point
  affects the visual sensor noise model, with the noise of observed
  objects increasing as the distance between the focus point and
  the object increases.

  The initial position of the focus point is the player's position,
  and if a player does not change the focus point position, the
  server visual noise model behaves as in server v17. However, a
  player can change the position of the focus point by sending a
  change_focus command. This command takes two parameters,
  dist_moment and dir_moment, and changes the position of the
  focus point relative to the player's neck angle.

  See the user manual for more information on the new observation
  model.

rcssserver-18.1.2

[18.1.2]

• Fix a problem of v18 observation noise model. Quantized distance
  values affected by the focus point are now rounded to one decimal
  place.

[18.1.1]

• Fix a problem in which the focus point is sometimes not updated.

[18.1.0]

• Revert the message frequency and the noise model of the visual
  information. Now, these settings are same as 17.0.1.

[18.0.0]

• Update to C++17.

• New command:

  • "(change_focus DIST_MOMENT DIR_MOMENT)"
    All version players can use this command. If the command is
    accepted, that player's focus point is moved according to the
    given parameters. Details are described below.

• Change the version number of JSON-based monitor protocol to -1.
  And, change the header line of JSON-based game log to "JSON". If
  the value of server::game_log_version is -1, the content of the
  recorded game log is a JSON array except for the header line.

• Introduce a new observation model.

  When the players connect with version 18 or higher, the vision
  sensor automatically enters the synchronous mode.

  The concept of focus points is introduced. The focus point
  represents a position inside a player's view angle, and can be up
  to 40.0 meters away from the player's position. The focus point
  affects the visual sensor noise model, with the noise of observed
  objects increasing as the distance between the focus point and
  the object increases.

  The initial position of the focus point is the player's position,
  and if a player does not change the focus point position, the
  server visual noise model behaves as in server v17. However, a
  player can change the position of the focus point by sending a
  change_focus command. This command takes two parameters,
  dist_moment and dir_moment, and changes the position of the
  focus point relative to the player's neck angle.

  See the user manual for more information on the new observation
  model.

rcssserver-18.1.1

[18.1.1]

• Fix a problem in which the focus point is sometimes not updated.

[18.1.0]

• Revert the message frequency and the noise model of the visual
  information. Now, these settings are same as 17.0.1.

[18.0.0]

• Update to C++17.

• New command:

  • "(change_focus DIST_MOMENT DIR_MOMENT)"
    All version players can use this command. If the command is
    accepted, that player's focus point is moved according to the
    given parameters. Details are described below.

• Change the version number of JSON-based monitor protocol to -1.
  And, change the header line of JSON-based game log to "JSON". If
  the value of server::game_log_version is -1, the content of the
  recorded game log is a JSON array except for the header line.

• Introduce a new observation model.

  When the players connect with version 18 or higher, the vision
  sensor automatically enters the synchronous mode.

  The concept of focus points is introduced. The focus point
  represents a position inside a player's view angle, and can be up
  to 40.0 meters away from the player's position. The focus point
  affects the visual sensor noise model, with the noise of observed
  objects increasing as the distance between the focus point and
  the object increases.

  The initial position of the focus point is the player's position,
  and if a player does not change the focus point position, the
  server visual noise model behaves as in server v17. However, a
  player can change the position of the focus point by sending a
  change_focus command. This command takes two parameters,
  dist_moment and dir_moment, and changes the position of the
  focus point relative to the player's neck angle.

  See the user manual for more information on the new observation
  model.

rcssserver-18.1.0

[18.1.0]

• Revert the message frequency and the noise model of the visual
  information. Now, these settings are the same as 17.0.1.

[18.0.0]

• Update to C++17.

• New command:

  • "(change_focus DIST_MOMENT DIR_MOMENT)"
    All version players can use this command. If the command is
    accepted, that player's focus point is moved according to the
    given parameters. Details are described below.

• Change the version number of JSON-based monitor protocol to -1.
  And, change the header line of JSON-based game log to "JSON". If
  the value of server::game_log_version is -1, the content of the
  recorded game log is a JSON array except for the header line.

• Introduce a new observation model.

  When the players connect with version 18 or higher, the vision
  sensor automatically enters the synchronous mode.

  The concept of focus points is introduced. The focus point
  represents a position inside a player's view angle, and can be up
  to 40.0 meters away from the player's position. The focus point
  affects the visual sensor noise model, with the noise of observed
  objects increasing as the distance between the focus point and
  the object increases.

  The initial position of the focus point is the player's position,
  and if a player does not change the focus point position, the
  server visual noise model behaves as in server v17. However, a
  player can change the position of the focus point by sending a
  change_focus command. This command takes two parameters,
  dist_moment and dir_moment, and changes the position of the
  focus point relative to the player's neck angle.

  See the user manual for more information on the new observation
  model.

rcssserver-18.0.0

[18.0.0]

• Update to C++17.

• New command:

  • "(change_focus DIST_MOMENT DIR_MOMENT)"
    All version players can use this command. If the command is
    accepted, that player's focus point is moved according to the
    given parameters. Details are described below.

• Change the version number of JSON-based monitor protocol to -1.
  And, change the header line of JSON-based game log to "JSON". If
  the value of server::game_log_version is -1, the content of the
  recorded game log is a JSON array except for the header line.

• Introduce a new observation model.

  When the players connect with version 18 or higher, the vision
  sensor automatically enters the synchronous mode. In addition,
  players with version 18 or higher receive a see message every
  cycle, regardless of their view width. Instead, the noise in the
  observed information varies with the view width. When the
  observation information is serialized, the quantize step parameter
  is multiplied by the noise term parameter, which depends on the
  view width.

  The concept of focus points is introduced. The focus point
  represents a position inside a player's view angle, and can be up
  to 40.0 meters away from the player's position. The focus point
  affects the visual sensor noise model, with the noise of observed
  objects increasing as the distance between the focus point and
  the object increases.

  The initial position of the focus point is the player's position,
  and if a player does not change the focus point position, the
  server visual noise model behaves as in server v17. However, a
  player can change the position of the focus point by sending a
  change_focus command. This command takes two parameters,
  dist_moment and dir_moment, and changes the position of the
  focus point relative to the player's neck angle.

  See the user manual for more information on the new observation
  model.

rcssserver-17.0.1

[17.0.1]

• Fix build problems caused by missing headers.

[17.0.0]

• New parameters:

  • server::max_catch_angle (default value: 90.0)
  • server::min_catch_angle (default value: -90.0)

• Changed parameters:

  • server::min_dash_power (-100.0 -> 0)
  • server::back_dash_rate (0.6 -> 0.7)

• Improvement of the catch model. The direction of goalie's catch
  command has been restricted within [server::min_catch_angle,
  server::max_catch_angle]. The default values are [-90.0, 90.0].
  This setting means goalies cannot catch the ball behind them.

• Improvement of the dash model. server::min_dash_power is changed
  from -100.0 to 0.0. This means players cannot use the negative
  power in order for them to accelerate backward. If players would
  like to accelerate backward, they need to use the omnidirectional
  dash. In connection with the change of the dash power,
  server::back_dash_rate has been changed.

• Support a JSON-based monitor protocol. If the monitor tries to
  connect to the server by the client version 5, the received
  messages will be JSON. The format of the game log file (.rcg) has
  also followed the monitor protocol. If the value of
  server::game_log_version is 6, the content of the recorded game
  log is a JSON array except for the header line.

• The installation destination of the library header files has been
  unified under PREFIX/include/rcss. The location of the clang
  parser library has been moved to prefix/include/rcss/clang.

• Support CMake. Thanks to gikari for providing his great
  contribution on GitHub.

• Support C++11/14. Some environment-dependent implementations have
  been replaced by the C++ standard library.

rcssserver-17.0.0

[17.0.0]

• New parameters:

  • server::max_catch_angle (default value: 90.0)
  • server::min_catch_angle (default value: -90.0)

• Changed parameters:

  • server::min_dash_power (-100.0 -> 0)
  • server::back_dash_rate (0.6 -> 0.7)

• Improvement of the catch model. The direction of goalie's catch
  command has been restricted within [server::min_catch_angle,
  server::max_catch_angle]. The default values are [-90.0, 90.0].
  This setting means goalies cannot catch the ball behind them.

• Improvement of the dash model. server::min_dash_power is changed
  from -100.0 to 0.0. This means players cannot use the negative
  power in order for them to accelerate backward. If players would
  like to accelerate backward, they need to use the omnidirectional
  dash. In connection with the change of the dash power,
  server::back_dash_rate has been changed.

• Support a JSON-based monitor protocol. If the monitor tries to
  connect to the server by the client version 5, the received
  messages will be JSON. The format of the game log file (.rcg) has
  also followed the monitor protocol. If the value of
  server::game_log_version is 6, the content of the recorded game
  log is a JSON array except for the header line.

• The installation destination of the library header files has been
  unified under PREFIX/include/rcss. The location of the clang
  parser library has been moved to prefix/include/rcss/clang.

• Support CMake. Thanks to gikari for providing his great
  contribution on GitHub.

• Support C++11/14. Some environment-dependent implementations have
  been replaced by the C++ standard library.

rcssserver-16.0.1

[16.0.1]

• Fix a bug of the length of half time caused by slow_down_factor.

rcssserver-16.0.0

[16.0.0]

• New parameters:

  • server::illegal_defense_duration (default value: 20)
  • server::illegal_defense_number (default value: 0)
  • server::illegal_defense_dist_x (default value: 16.5)
  • server::illegal_defense_width (default value: 40.32)
  • server::fixed_teamname_l (default value: '')
  • server::fixed_teamname_r (default value: '')

• Introduce an automatic illegal defense detection rule. This rule
  is disabled if the value of illegal_defense_number is 0 (default
  in this version).

  The illegal defense area is defined by two parameters,
  illegal_defense_dist_x and illegal_defense_width. The area
  defined by default values is same as the penalty area for each
  side. Please note that these values may be changed in the future
  version.

  If a player in the defensive side team (not a ball owner team)
  exists whthin the illegal defense area for that team, the referee
  marks that player is a candidate of illegal defense state. Then,
  if the number of marked players is more than or equal to
  illegal_defense_number, the referee judges that the team behaves
  illegal defense at that cycle. Finally, if the illegal defense behavior
  for a team continues for more than or equal to illegal_defense_duration,
  'illegal_defense_[lr]' playmode is called and a free kick is
  awarded to the other team. The free kick position is currently
  fixed at (+-41.5, 0.0).

• Introduce a fixed team name feature. If fixed_teamname_[lr] are
  given, the players and online coaches receive the given string as
  their opponent team name, while receiving their own team name as
  it is. This feature can be used for an anonymous game where both
  teams do not know their opponent team name during a game.

• Define a new player state flag for the monitor protocol to
  represent an illegal defense state. This flag can be used to
  visualize the state of illegal defense behavior on the
  monitor/logplayer.