Inheritance diagram for MovePrimitive:

Collaboration diagram for MovePrimitive:

Public Member Functions
	MovePrimitive (const Robot &robot, const Point &destination, const Angle &final_angle, const TbotsProto::MaxAllowedSpeedMode &max_allowed_speed_mode, const TbotsProto::ObstacleAvoidanceMode &obstacle_avoidance_mode, const TbotsProto::DribblerMode &dribbler_mode, const TbotsProto::BallCollisionType &ball_collision_type, const AutoChipOrKick &auto_chip_or_kick, std::optional< double > cost_override=std::nullopt)

std::pair< std::optional< TrajectoryPath >, std::unique_ptr< TbotsProto::Primitive > >	generatePrimitiveProtoMessage (const World &world, const std::set< TbotsProto::MotionConstraint > &motion_constraints, const std::map< RobotId, TrajectoryPath > &robot_trajectories, const RobotNavigationObstacleFactory &obstacle_factory) override

void	getVisualizationProtos (TbotsProto::ObstacleList &obstacle_list_out, TbotsProto::PathVisualization &path_visualization_out) const override

Public Member Functions inherited from Primitive
virtual	~Primitive ()=default

double	getEstimatedPrimitiveCost () const

Additional Inherited Members
Protected Attributes inherited from Primitive
double	estimated_cost = 0

Constructor & Destructor Documentation

◆ MovePrimitive()

MovePrimitive	(	const Robot &	robot,
		const Point &	destination,
		const Angle &	final_angle,
		const TbotsProto::MaxAllowedSpeedMode &	max_allowed_speed_mode,
		const TbotsProto::ObstacleAvoidanceMode &	obstacle_avoidance_mode,
		const TbotsProto::DribblerMode &	dribbler_mode,
		const TbotsProto::BallCollisionType &	ball_collision_type,
		const AutoChipOrKick &	auto_chip_or_kick,
		std::optional< double >	cost_override = `std::nullopt`
	)

Create a Move Primitive Message

Parameters

robot	Robot running this primitive
destination	Destination position of the robot
final_angle	Desired final orientation of the robot
max_allowed_speed_mode	Max allowed speed the robot can move at
dribbler_mode	Dribbler mode during this primitive
ball_collision_type	Ball collision type specifying if collision with the ball is allowed
auto_chip_or_kick	Whether auto chip or kick is enabled and the target distance/speed
cost_override	optionally override the cost of the move primitive, defaults to the total duration of reaching the destination (ignoring obstacles)

std::pair< std::optional< TrajectoryPath >, std::unique_ptr< TbotsProto::Primitive > > generatePrimitiveProtoMessage	(	const World &	world,
		const std::set< TbotsProto::MotionConstraint > &	motion_constraints,
		const std::map< RobotId, TrajectoryPath > &	robot_trajectories,
		const RobotNavigationObstacleFactory &	obstacle_factory
	)

overridevirtual

Gets the primitive proto message

Parameters

world	Current state of the world
motion_constraints	Motion constraints to consider
robot_trajectories	A map of the all friendly robots' known trajectories
obstacle_factory	Obstacle factory to use for generating obstacles

Returns: A pair of the found trajectory (optional) and the primitive proto message

Implements Primitive.

void getVisualizationProtos	(	TbotsProto::ObstacleList &	obstacle_list_out,
		TbotsProto::PathVisualization &	path_visualization_out
	)		const

overridevirtual

Fill the obstacle list and path visualization with the obstacles and path of this primitive

Parameters

obstacle_list_out	Reference to the ObstacleList proto to add obstacles to
path_visualization_out	Reference to the PathVisualization proto to add path

Implements Primitive.

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