DefensePlayFSMBase Class Reference

#include <defense_play_base.h>

Inheritance diagram for DefensePlayFSMBase:

Classes
struct	ControlParams

Public Member Functions
DEFINE_PLAY_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS	DefensePlayFSMBase (TbotsProto::AiConfig ai_config)

Protected Member Functions
void	setUpCreaseDefenders (int num_crease_defenders)
void	setUpPassDefenders (int num_pass_defenders)
void	setAlignment (const Update &event, const std::vector< DefenderAssignment > &crease_defender_assignments, TbotsProto::BallStealMode ball_steal_mode)
void	updatePassDefenderControlParams (std::vector< DefenderAssignment > &pass_defender_assignments, TbotsProto::BallStealMode ball_steal_mode)

Protected Attributes
TbotsProto::AiConfig	ai_config
std::vector< std::shared_ptr< CreaseDefenderTactic > >	crease_defenders
std::vector< std::shared_ptr< PassDefenderTactic > >	pass_defenders

Detailed Description

Struct containing frequently shared functions of the defense play class

Constructor & Destructor Documentation

DefensePlayFSMBase()

DefensePlayFSMBase ( TbotsProto::AiConfig  ai_config )

explicit

Creates a play FSM with defensive methods

Parameters

ai_config

the play config for this play FSM

Member Function Documentation

setAlignment()

void setAlignment ( const Update &  event, const std::vector< DefenderAssignment > &  crease_defender_assignments, TbotsProto::BallStealMode  ball_steal_mode  )

protected

Helper function to set up alignments for the crease defense robots and control params

Parameters

event	the FSM event
crease_defender_assignments	crease defender assignments to be aligned
ball_steal_mode	crease defender ball steal behaviour/aggressiveness

setUpCreaseDefenders()

void setUpCreaseDefenders ( int  num_crease_defenders )

protected

Helper function to set up crease defender tactic vector members

Parameters

num_crease_defenders

the number of crease defender tactics to set

setUpPassDefenders()

void setUpPassDefenders ( int  num_pass_defenders )

protected

Helper function to set up pass defender tactic vector members

Parameters

num_pass_defenders

the number of pass defender tactics to set

updatePassDefenderControlParams()

void updatePassDefenderControlParams ( std::vector< DefenderAssignment > &  pass_defender_assignments, TbotsProto::BallStealMode  ball_steal_mode  )

protected

Helper function to update all given pass defender control params

Parameters

pass_defender_assignments	pass defender assignments to be updated
ball_steal_mode	The pass defender's aggressiveness towards the ball

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

• src/software/ai/hl/stp/play/defense/defense_play_base.h
• src/software/ai/hl/stp/play/defense/defense_play_base.cpp