DribbleTactic Class Reference

#include <dribble_tactic.h>

Inheritance diagram for DribbleTactic:

Collaboration diagram for DribbleTactic:

Public Member Functions
	DribbleTactic (TbotsProto::AiConfig ai_config)
void	updateControlParams (std::optional< Point > dribble_destination, std::optional< Angle > final_dribble_orientation, bool allow_excessive_dribbling=false)
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

The DribbleTactic will move the robot to intercept the ball and optionally dribble it to the dribble destination with the robot facing the given direction. It also optionally applies small kicks to not excessively dribble

Done: When the ball is near the dribbler of the robot and the optional dribble destination and face ball orientation conditions are satisfied

Constructor & Destructor Documentation

DribbleTactic()

DribbleTactic ( TbotsProto::AiConfig  ai_config )

explicit

Creates a new DribbleTactic

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	(	std::optional< Point >	dribble_destination,
		std::optional< Angle >	final_dribble_orientation,
		bool	allow_excessive_dribbling = false
	)

Updates control params for optionally moving the ball to a dribble destination and with the robot at a final dribble orientation

Parameters

dribble_destination	The destination for dribbling the ball
final_dribble_orientation	The final orientation to face the ball when finishing dribbling
allow_excessive_dribbling	Whether to allow excessive dribbling, i.e. more than 1 metre at a time

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

• src/software/ai/hl/stp/tactic/dribble/dribble_tactic.h
• src/software/ai/hl/stp/tactic/dribble/dribble_tactic.cpp