ball.h

#pragma once
 
#include <memory>
#include <optional>
 
#include "proto/world.pb.h"
#include "software/time/timestamp.h"
#include "software/world/ball_state.h"
 
class Ball final
{
   public:
    Ball() = delete;
 
    explicit Ball(const Point &position, const Vector &velocity,
                  const Timestamp &timestamp, const Vector &acceleration = Vector(0, 0));
 
    explicit Ball(const BallState &initial_state, const Timestamp &timestamp,
                  const Vector &acceleration = Vector(0, 0));
 
    explicit Ball(const TbotsProto::Ball &ball_proto);
 
    BallState currentState() const;
 
    void updateState(const BallState &new_state, const Timestamp &new_timestamp,
                     const Vector &new_acceleration = Vector(0, 0));
 
    Timestamp timestamp() const;
 
    Point position() const;
 
    Vector velocity() const;
 
    Vector acceleration() const;
 
    BallState estimateFutureState(const Duration &duration_in_future) const;
 
    bool hasBallBeenKicked(
        const Angle &expected_kick_direction, double min_kick_speed = 0.5,
        const Angle &max_angle_difference = Angle::fromDegrees(20)) const;
 
    bool operator==(const Ball &other) const;
 
    bool operator!=(const Ball &other) const;
 
   private:
    BallState current_state_;
    Timestamp timestamp_;
    Vector acceleration_;  // used to predict future states
};