Added throw in challenge

src/main/java/magma/tools/benchmark/ChallengeType.java

@@ -35,7 +35,7 @@ public enum ChallengeType {
 
 	THROW_IN("Throw In", ThrowInBenchmark::new, ThrowInBenchmarkTableView::getInstance);
 
-	public static final ChallengeType DEFAULT = ROLLING_BALL;
+	public static final ChallengeType DEFAULT = THROW_IN;
 
 	public final String name;
 

src/main/java/magma/tools/benchmark/model/bench/throwinchallenge/ThrowInBenchmark.java

@@ -44,9 +44,6 @@ public class ThrowInBenchmark extends BenchmarkMain
 	/** x-axis delta of player to ball (in m) */
 	static final double DISTANCE_BEHIND_BALL = 0.6;
 
-	/** half opening angle of ball positions (in degrees) */
-	static final double BEAM_ANGLE = 30;
-
 	/** noise in player beam position (in m) */
 	static final double BEAM_NOISE = 0.1;
 
@@ -92,13 +89,12 @@ protected TeamResult createTeamResult(TeamConfiguration currentTeamConfig)
 
 	@Override
 	protected RunInformation createRunInformation(Random rand, int runID)
-	{
-		double radius = (runID + 3);
-		double angle = Math.toRadians(noise(rand, BEAM_ANGLE));
-		double ballX = -radius * Math.cos(angle);
-		double ballY = radius * Math.sin(angle);
-		double beamX = ballX - DISTANCE_BEHIND_BALL + noise(rand, BEAM_NOISE);
-		double beamY = ballY + noise(rand, BEAM_NOISE);
+	{		
+		double beamX = -15;
+		double beamY = 0;
+		double ballX = beamX + DISTANCE_BEHIND_BALL + noise(rand, BEAM_NOISE);
+		double ballY = beamY + noise(rand, BEAM_NOISE);
+
 		return new RunInformation(runID, beamX, beamY, ballX, ballY);
 	}
 

src/main/java/magma/tools/benchmark/model/bench/throwinchallenge/ThrowInBenchmarkReferee.java

@@ -33,6 +33,12 @@ public class ThrowInBenchmarkReferee extends BenchmarkRefereeBase
 
 	/** speed below which the ball is considered in rest (in m/cycle) */
 	private static final double BALL_STOPPED_SPEED = 0.001;
+
+	/** minimal height from where the ball needs to be thrown to be considered a throw */
+	private static final double MIN_THROW_HEIGHT = 0.5;
+
+	/** threshold for ball velocity where a throw is considered a kick */
+	private static final double KICK_VELOCITY_THRESHOLD = 0.4;
 
 	private final String roboVizServer;
 
@@ -41,6 +47,12 @@ public class ThrowInBenchmarkReferee extends BenchmarkRefereeBase
 
 	/** position of ball in last cycle */
 	private Vector2D oldBallPos;
+
+	/** position of ball in last cycle */
+	private Vector3D oldBallPos3D;
+
+	/** flag for checking if the ball was above MIN_TROW_HEIGHT */
+	private boolean wasThrown;
 
 	public ThrowInBenchmarkReferee(IMonitorWorldModel mWorldModel, IServerCommander serverCommander, String serverPid,
 			SinglePlayerLauncher launcher, float dropHeight, RunInformation runInfo, String roboVizServer)
@@ -50,6 +62,7 @@ public ThrowInBenchmarkReferee(IMonitorWorldModel mWorldModel, IServerCommander
 		this.roboVizServer = roboVizServer;
 		distanceError = 0;
 		oldBallPos = new Vector2D(runInfo.getBallX(), runInfo.getBallY());
+		oldBallPos3D = new Vector3D(runInfo.getBallX(), runInfo.getBallY(), 0);
 	}
 
 	/**
@@ -67,6 +80,8 @@ protected boolean onDuringLaunching()
 	protected boolean onStartBenchmark()
 	{
 		state = RefereeState.CONNECTED;
+
+		wasThrown = false;
 
 		serverCommander.setPlaymode(PlayMode.PLAY_ON);
 		serverCommander.beamBall((float) runInfo.getBallX(), (float) runInfo.getBallY());
@@ -118,7 +133,8 @@ protected boolean onDuringBenchmark()
 			// stop if player runs too far
 			if (playerNow.distance(ballInitial) > MAX_BALL_DISTANCE) {
 				return true;
-			}
+			}	
+
 			// stop if ball has left radius and has stopped
 			if (ballNow.distance(ballInitial) > MAX_BALL_DISTANCE) {
 				if (ballNow.distance(oldBallPos) < BALL_STOPPED_SPEED) {
@@ -129,6 +145,14 @@ protected boolean onDuringBenchmark()
 				if (time - startTime > TIME_BALL_HAS_TO_LEAVE_CIRCLE) {
 					return true;
 				}
+
+				double velocity = posBall.distance(oldBallPos3D);
+
+				if (posBall.getZ() > MIN_THROW_HEIGHT && velocity < KICK_VELOCITY_THRESHOLD) {
+					wasThrown = true;
+				} else {
+					wasThrown = false;
+				}
 			}
 			// stop if playmode changes (e.g. because someone scored an own goal)
 			if (worldModel.getPlayMode() != PlayMode.PLAY_ON) {
@@ -137,6 +161,7 @@ protected boolean onDuringBenchmark()
 		}
 
 		oldBallPos = ballNow;
+		oldBallPos3D = posBall;
 		return false;
 	}
 
@@ -155,6 +180,12 @@ protected void onStopBenchmark()
 			distanceError += PENALTY_LEAVING_CIRCLE;
 			hasPenalty = true;
 		}
+
+		// we give a penalty if player did not threw the ball
+		if (!wasThrown) {
+			distanceError = 0;
+			hasPenalty = true;
+		}
 	}
 
 	/**