From 5486577ce2d6f0df798f17fc784c457653f0aee0 Mon Sep 17 00:00:00 2001 From: Jonathan Gil Date: Sun, 29 Sep 2024 19:55:05 -0400 Subject: [PATCH] doubled value of wall spacing in waller.cpp --- soccer/src/soccer/strategy/agent/position/waller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/soccer/src/soccer/strategy/agent/position/waller.cpp b/soccer/src/soccer/strategy/agent/position/waller.cpp index 6919cdb7eb..7416c0472c 100644 --- a/soccer/src/soccer/strategy/agent/position/waller.cpp +++ b/soccer/src/soccer/strategy/agent/position/waller.cpp @@ -33,7 +33,7 @@ std::optional Waller::get_task(RobotIntent intent, const WorldState rj_geometry::Point mid_point{(goal_center_point) + (ball_dir_vector * min_wall_rad)}; // Calculate the wall spacing - auto wall_spacing = robot_diameter_multiplier_ * kRobotDiameter + kBallRadius; + auto wall_spacing = 2 * robot_diameter_multiplier_ * kRobotDiameter + kBallRadius; // Calculate the target point rj_geometry::Point target_point{};