AssignedTacticsPlay Class Reference

#include <assigned_tactics_play.h>

Inheritance diagram for AssignedTacticsPlay:

Collaboration diagram for AssignedTacticsPlay:

Public Member Functions
	AssignedTacticsPlay (TbotsProto::AiConfig config)
void	getNextTactics (TacticCoroutine::push_type &yield, const WorldPtr &world_ptr) override
void	updateTactics (const PlayUpdate &play_update) override
void	updateControlParams (std::map< RobotId, std::shared_ptr< Tactic > > assigned_tactics, std::map< RobotId, std::set< TbotsProto::MotionConstraint > > motion_constraints=std::map< RobotId, std::set< TbotsProto::MotionConstraint > >())
std::unique_ptr< TbotsProto::PrimitiveSet >	get (const WorldPtr &world_ptr, const InterPlayCommunication &, const SetInterPlayCommunicationCallback &) override
Public Member Functions inherited from Play
	Play (TbotsProto::AiConfig ai_config, bool requires_goalie)
const std::map< std::shared_ptr< const Tactic >, RobotId > &	getTacticRobotIdAssignment () const
virtual std::vector< std::string >	getState ()

Additional Inherited Members
Protected Attributes inherited from Play
TbotsProto::AiConfig	ai_config
std::shared_ptr< GoalieTactic >	goalie_tactic
std::map< std::shared_ptr< const Tactic >, RobotId >	tactic_robot_id_assignment
std::map< RobotId, TrajectoryPath >	robot_trajectories
TbotsProto::ObstacleList	obstacle_list
TbotsProto::PathVisualization	path_visualization

Detailed Description

Play that runs assigned tactics

Member Function Documentation

get()

std::unique_ptr< TbotsProto::PrimitiveSet > get ( const WorldPtr &  world_ptr, const InterPlayCommunication &  inter_play_communication, const SetInterPlayCommunicationCallback &  set_inter_play_communication_fun  )

overridevirtual

Gets Primitives from the Play given the the world, and inter-play communication

Parameters

world	The updated world
inter_play_communication	The inter-play communication struct
set_inter_play_communication_fun	The callback to set the inter-play communication struct

Returns

the PrimitiveSet to execute

Reimplemented from Play.

getNextTactics()

void getNextTactics ( TacticCoroutine::push_type &  yield, const WorldPtr &  world_ptr  )

overridevirtual

This function yields a list of shared_ptrs to the Tactics the Play wants to run at this time, in order of priority. This yield happens in place of a return.

TODO (#2359): delete once all plays are not coroutines

Parameters

yield	The coroutine push_type for the Play
world	The current state of the world

Implements Play.

updateControlParams()

void updateControlParams	(	std::map< RobotId, std::shared_ptr< Tactic > >	assigned_tactics,
		std::map< RobotId, std::set< TbotsProto::MotionConstraint > >	motion_constraints = std::map<RobotId, std::set<TbotsProto::MotionConstraint>>()
	)

Update assigned tactics for this play

Parameters

assigned_tactics	The assigned tactics to run
motion	constraints to override on a per robot id basis (if not set, then build motion constraints from tactic and gamestate)

updateTactics()

void updateTactics ( const PlayUpdate &  play_update )

overridevirtual

Updates the priority tactic vector with new tactics

Parameters

play_update

The PlayUpdate struct that contains all the information for updating the tactics

Reimplemented from Play.

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The documentation for this class was generated from the following files:

• src/software/ai/hl/stp/play/assigned_tactics_play.h
• src/software/ai/hl/stp/play/assigned_tactics_play.cpp