GoalieTactic Class Reference

#include <goalie_tactic.h>

Inheritance diagram for GoalieTactic:

Collaboration diagram for GoalieTactic:

Public Member Functions
	GoalieTactic (TbotsProto::AiConfig ai_config, TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode=TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT)
void	updateControlParams (bool should_move_to_goal_line)
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

This tactic is used to defend the ball from going into the goal. The tactic is assigned to the robot that is selected using a DynamicParameter, and stays that way throughout all the plays that require a goalie.

If the ball is moving faster than a threshold towards the net, moves to intercept the ball. If not, returns primitives that position the robot in a cone between the ball and the two goal posts, in such a way that the robot would have to move a minimal distance either way to intercept a potential straight shot into the net.

Constructor & Destructor Documentation

GoalieTactic()

GoalieTactic ( TbotsProto::AiConfig  ai_config, TbotsProto::MaxAllowedSpeedMode  max_allowed_speed_mode = TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT  )

explicit

Creates a new GoalieTactic

Parameters

ai_config	The AI configuration
max_allowed_speed_mode	The maximum allowed speed mode

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.

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

• src/software/ai/hl/stp/tactic/goalie/goalie_tactic.h
• src/software/ai/hl/stp/tactic/goalie/goalie_tactic.cpp