util Directory
This directory contains utilities for visual debugging of the program.
To run and compile these you need LEDA.
util/maptest
In this directory you can find a program which we have used for testing
actionmaps during debugging. It simulates soccer server environment and
moves the player and ball according to move and kick actionmaps. This program
is totally separate from samba and it can be compiled by typing 'make'
in the util/maptest directory.
util/visualizer
This is a program we have used for visualizing Samba's internal state.
It draws players position, ball position and other players on the field.
To take this into compilation add -DVIS to CFLAGS field in the makefile
of samba software (in samba/src). Also you have to compile visualizer by
typing 'make' in util/visualizer directory.
To configure which objects you want to visualize you have to change
file soccer.cfg:
-
change Visual_execute to 1. If this is 0 visualizer doesn't get executed.
-
to see opponents change Visual_opponents to 1-11
-
to see teammates change Visual_teammates to 1-11
-
to see ball change Visual_ball to 1
-
there is some other parameters too, feel free to experiment with them...
Note that when running visualizer you have to run it in local machine or
get X11 forwarding to work properly.