Inheritance diagram for MoveTactic:

Collaboration diagram for MoveTactic:

Public Member Functions
	MoveTactic ()

void	updateControlParams (Point destination, Angle final_orientation, TbotsProto::DribblerMode dribbler_mode=TbotsProto::DribblerMode::OFF, TbotsProto::BallCollisionType ball_collision_type=TbotsProto::BallCollisionType::AVOID, AutoChipOrKick auto_chip_or_kick={AutoChipOrKickMode::OFF, 0}, TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode=TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT, TbotsProto::ObstacleAvoidanceMode obstacle_avoidance_mode=TbotsProto::ObstacleAvoidanceMode::AGGRESSIVE)

void	updateControlParams (Point destination, Angle final_orientation, TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode, TbotsProto::ObstacleAvoidanceMode obstacle_avoidance_mode)

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 MoveTactic will move the assigned robot to the given destination and arrive with the specified final orientation and speed

Constructor & Destructor Documentation

MoveTactic ( )

explicit

Creates a new MoveTactic

void accept ( TacticVisitor & visitor ) const

overridevirtual

Accepts a Tactic Visitor and calls the visit function on itself

Parameters

visitor A Tactic Visitor

Implements Tactic.

void updateControlParams	(	Point	destination,
		Angle	final_orientation,
		TbotsProto::DribblerMode	dribbler_mode = `TbotsProto::DribblerMode::OFF`,
		TbotsProto::BallCollisionType	ball_collision_type = `TbotsProto::BallCollisionType::AVOID`,
		AutoChipOrKick	auto_chip_or_kick = `{AutoChipOrKickMode::OFF, 0}`,
		TbotsProto::MaxAllowedSpeedMode	max_allowed_speed_mode = `TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT`,
		TbotsProto::ObstacleAvoidanceMode	obstacle_avoidance_mode = `TbotsProto::ObstacleAvoidanceMode::AGGRESSIVE`
	)

Updates the params assuming that the max allowed speed mode is the physical limits

Parameters

destination	The destination to move to (in global coordinates)
final_orientation	The final orientation the robot should have at the destination
dribbler_mode	The dribbler mode
ball_collision_type	how to navigate around the ball
auto_chip_or_kick	The command to autochip or autokick
max_allowed_speed_mode	The mode of maximum speed allowed
obstacle_avoidance_mode	How safe we should be when avoiding obstacles, particularly enemy robots

void updateControlParams	(	Point	destination,
		Angle	final_orientation,
		TbotsProto::MaxAllowedSpeedMode	max_allowed_speed_mode,
		TbotsProto::ObstacleAvoidanceMode	obstacle_avoidance_mode
	)

Updates the params assuming that the dribbler and chicker and while avoiding the ball

Parameters

destination	The destination to move to (in global coordinates)
final_orientation	The final orientation the robot should have at the destination
max_allowed_speed_mode	The mode of maximum speed allowed
obstacle_avoidance_mode	How safe we should be when avoiding obstacles, particularly enemy robots

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