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:

Note that when running visualizer you have to run it in local machine or get X11 forwarding to work properly.