CreaseDefensePlay Class Reference

#include <crease_defense_play.h>

Inheritance diagram for CreaseDefensePlay:

Collaboration diagram for CreaseDefensePlay:

Public Member Functions
	CreaseDefensePlay (TbotsProto::AiConfig config)
void	getNextTactics (TacticCoroutine::push_type &yield, const WorldPtr &world_ptr) override
void	updateTactics (const PlayUpdate &play_update) override
void	updateControlParams (const Point &enemy_threat_origin, TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode=TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT)
Public Member Functions inherited from Play
	Play (TbotsProto::AiConfig ai_config, bool requires_goalie)
virtual std::unique_ptr< TbotsProto::PrimitiveSet >	get (const WorldPtr &world_ptr, const InterPlayCommunication &inter_play_communication, const SetInterPlayCommunicationCallback &set_inter_play_communication_fun)
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 set up crease defenders to defend the defense area

Member Function Documentation

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	(	const Point &	enemy_threat_origin,
		TbotsProto::MaxAllowedSpeedMode	max_allowed_speed_mode = TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT
	)

Update control params for this play

Parameters

enemy_threat_origin	The origin of the enemy threat
max_allowed_speed_mode	The mode of maximum speed allowed

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/crease_defense/crease_defense_play.h
• src/software/ai/hl/stp/play/crease_defense/crease_defense_play.cpp