CreaseDefenderTactic Class Reference

#include <crease_defender_tactic.h>

Inheritance diagram for CreaseDefenderTactic:

Collaboration diagram for CreaseDefenderTactic:

Public Member Functions
	CreaseDefenderTactic (TbotsProto::AiConfig ai_config)
DEFINE_TACTIC_DONE_AND_GET_FSM_STATE void	updateControlParams (const Point &enemy_threat_origin, const TbotsProto::CreaseDefenderAlignment &alignment, TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode=TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT, TbotsProto::BallStealMode ball_steal_mode=TbotsProto::BallStealMode::STEAL)
void	accept (TacticVisitor &visitor) const override
Public Member Functions inherited from Tactic
	Tactic (const std::set< RobotCapability > &capability_reqs_)
virtual bool	done () const =0
virtual std::string	getFSMState () const =0
const std::set< RobotCapability > &	robotCapabilityRequirements () const
std::set< RobotCapability > &	mutableRobotCapabilityRequirements ()
void	setLastExecutionRobot (std::optional< RobotId > last_execution_robot)
std::map< RobotId, std::shared_ptr< Primitive > >	get (const WorldPtr &world_ptr)

Additional Inherited Members
Protected Attributes inherited from Tactic
std::optional< RobotId >	last_execution_robot

Detailed Description

A crease defender moves around the exterior of our defense box to help shadow shots against the enemy

                   XX   <-- Enemy
                   XX
                     O  <-- Ball



                      ++   ++   <--- Two crease defenders
                      ++   ++

                  +--------------------+
                  |                    |
                  |         ++         |
                  |         ++    <-- Goalie

+-------------------—+------—++------—+---------------—+

Constructor & Destructor Documentation

CreaseDefenderTactic()

CreaseDefenderTactic ( TbotsProto::AiConfig  ai_config )

explicit

Creates a new CreaseDefenderTactic

Parameters

ai_config

The AI configuration

Member Function Documentation

accept()

void accept ( TacticVisitor &  visitor ) const

overridevirtual

Accepts a Tactic Visitor and calls the visit function on itself

Parameters

visitor

A Tactic Visitor

Implements Tactic.

updateControlParams()

void updateControlParams	(	const Point &	enemy_threat_origin,
		const TbotsProto::CreaseDefenderAlignment &	alignment,
		TbotsProto::MaxAllowedSpeedMode	max_allowed_speed_mode = TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT,
		TbotsProto::BallStealMode	ball_steal_mode = TbotsProto::BallStealMode::STEAL
	)

Update control params for this tactic

Parameters

enemy_threat_origin	The origin of the enemy threat
alignment	The alignment for this crease defender
max_allowed_speed_mode	The mode of maximum speed allowed
ball_steal_mode	The mode of ball stealing to follow

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

• src/software/ai/hl/stp/tactic/crease_defender/crease_defender_tactic.h
• src/software/ai/hl/stp/tactic/crease_defender/crease_defender_tactic.cpp