Public Member Functions
	ReceiverPositionGenerator (std::shared_ptr< const FieldPitchDivision< ZoneEnum > > pitch_division, TbotsProto::PassingConfig passing_config)

std::vector< Point >	getBestReceivingPositions (const World &world, unsigned int num_positions, const std::vector< Point > &existing_receiver_positions={}, const std::optional< Point > &pass_origin_override=std::nullopt)

Detailed Description

template<class ZoneEnum>
class ReceiverPositionGenerator< ZoneEnum >

This class is responsible for generating the best positions for our pass receivers to go to

Constructor & Destructor Documentation

template<class ZoneEnum >

ReceiverPositionGenerator	(	std::shared_ptr< const FieldPitchDivision< ZoneEnum > >	pitch_division,
		TbotsProto::PassingConfig	passing_config
	)

explicit

Parameters

pitch_division	The pitch division to split the receivers into
passing_config	The passing configuration to use when looking for best receiving positions

template<class ZoneEnum >

std::vector< Point > getBestReceivingPositions	(	const World &	world,
		unsigned int	num_positions,
		const std::vector< Point > &	existing_receiver_positions = `{}`,
		const std::optional< Point > &	pass_origin_override = `std::nullopt`
	)

Generates the best receiving positions for the friendly robots to go to

Parameters

world	The world to generate the best receiving positions based on
num_positions	The number of receiving positions to generate
existing_receiver_positions	A set of existing receiver positions that will be avoided, if possible, when generating the new receiver positions.
pass_origin_override	An optional override for the position where the pass will be made from. If not provided, the ball position will be used. This could be helpful if you are trying to position the receivers based on the ball's future position.

Returns: A vector of min(num_positions, num_friendly_robots - existing_receiver_positions.size()) positions that the receivers could use.

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