calc_best_shot.h

#pragma once
 
#include "shared/constants.h"
#include "software/ai/evaluation/shot.h"
#include "software/geom/angle_map.h"
#include "software/geom/angle_segment.h"
#include "software/geom/point.h"
#include "software/geom/segment.h"
#include "software/util/make_enum/make_enum.hpp"
#include "software/world/field.h"
#include "software/world/robot.h"
#include "software/world/team.h"
#include "software/world/world.h"
 
std::optional<Shot> calcBestShotOnGoal(const Segment &goal_post, const Point &shot_origin,
                                       const std::vector<Robot> &robot_obstacles,
                                       TeamType goal,
                                       double radius = ROBOT_MAX_RADIUS_METERS);
std::optional<Shot> calcBestShotOnGoal(const Field &field, const Team &friendly_team,
                                       const Team &enemy_team, const Point &shot_origin,
                                       TeamType goal,
                                       const std::vector<Robot> &robots_to_ignore = {},
                                       double radius = ROBOT_MAX_RADIUS_METERS);