#include <team.h>

Public Member Functions
	Team (const Duration &robot_expiry_buffer_duration=Duration::fromMilliseconds(50))

	Team (const std::vector< Robot > &team_robots, const Duration &robot_expiry_buffer_duration=Duration::fromMilliseconds(50))

	Team (const TbotsProto::Team &team_proto, const Duration &robot_expiry_buffer_duration=Duration::fromMilliseconds(50))

void	updateRobots (const std::vector< Robot > &team_robots)

void	updateState (const Team &new_team_data)

void	removeExpiredRobots (const Timestamp &timestamp)

void	removeRobotWithId (unsigned int robot_id)

void	assignGoalie (RobotId new_goalie_id)

void	clearGoalie ()

size_t	numRobots () const

const Duration &	getRobotExpiryBufferDuration () const

void	setRobotExpiryBuffer (const Duration &new_robot_expiry_buffer_duration)

void	setUnavailableRobotCapabilities (RobotId id, const std::set< RobotCapability > &new_unavailable_robot_capabilities)

std::optional< Robot >	getRobotById (const unsigned int id) const

std::optional< Robot >	goalie () const

std::optional< unsigned int >	getGoalieId () const

const std::vector< Robot > &	getAllRobots () const

std::vector< Robot >	getAllRobotsExceptGoalie () const

std::optional< Robot >	getNearestRobot (const Point &ref_point) const

void	clearAllRobots ()

std::optional< Timestamp >	timestamp () const

bool	operator== (const Team &other) const

bool	operator!= (const Team &other) const

Timestamp	getMostRecentTimestamp () const

Static Public Member Functions
static std::optional< Robot >	getNearestRobot (const std::vector< Robot > &robots, const Point &ref_point)

Detailed Description

A team of robots

Constructor & Destructor Documentation

◆ Team() [1/3]

Team ( const Duration & robot_expiry_buffer_duration = Duration::fromMilliseconds(50) )

explicit

Create a new team

Parameters

robot_expiry_buffer_duration The Duration for which a robot must not have been updated for before it is removed from the team

◆ Team() [2/3]

Team	(	const std::vector< Robot > &	team_robots,
		const Duration &	robot_expiry_buffer_duration = `Duration::fromMilliseconds(50)`
	)

explicit

Create a new team

Parameters

team_robots	The robots on the team
robot_expiry_buffer_duration	The Duration for which a robot must not have been updated for before it is removed from the team

◆ Team() [3/3]

Team	(	const TbotsProto::Team &	team_proto,
		const Duration &	robot_expiry_buffer_duration = `Duration::fromMilliseconds(50)`
	)

explicit

Creates a new team based on the TbotsProto::Team protobuf representation

Parameters

team_proto The TbotsProto::Team protobuf which this robot should be based on

Member Function Documentation

◆ assignGoalie()

void assignGoalie ( RobotId new_goalie_id )

Assigns the goalie id for this team

Parameters

new_goalie_id The id of the new goalie for this team

◆ clearAllRobots()

void clearAllRobots ( )

Removes all Robots from this team. Does not affect the goalie id.

◆ clearGoalie()

void clearGoalie ( )

Clears the goalie for this team. There will be no goalie assigned after this operation

◆ getAllRobots()

const std::vector< Robot > & getAllRobots ( ) const

Returns a vector of all the robots on this team.

Returns: a vector of all the robots on this team.

◆ getAllRobotsExceptGoalie()

std::vector< Robot > getAllRobotsExceptGoalie ( ) const

Returns a vector of all the robots on this team excluding the goalie

Returns: a vector of all the robots on this team excluding the goalie

◆ getGoalieId()

std::optional< unsigned int > getGoalieId ( ) const

Returns the ID of the goalie for this team, if one has been specified. Otherwise returns std::nullopt

Returns: The ID of the goalie robot for this team if one is specified, otherwise returns std::nullopt

◆ getMostRecentTimestamp()

Timestamp getMostRecentTimestamp ( ) const

Returns the most Timestamp corresponding to the most recent update to Field object

Returns: Timestamp : The Timestamp corresponding to the most recent update to the Field object

◆ getNearestRobot() [1/2]

std::optional< Robot > getNearestRobot ( const Point & ref_point ) const

Finds the robot on a team that is closest to the reference point

Parameters

ref_point The point where the distance to each robot will be measured.

Returns: Robot that is closest to the reference point. std::nullopt otherwise

◆ getNearestRobot() [2/2]

std::optional< Robot > getNearestRobot	(	const std::vector< Robot > &	robots,
		const Point &	ref_point
	)

static

Given a list of robots, finds the robot on that team that is closest to a reference point.

Parameters

robots	the list of robots
ref_point	The point where the distance to each robot will be measured.

Returns: Robot that is closest to the reference point.

◆ getRobotById()

std::optional< Robot > getRobotById ( const unsigned int id ) const

Returns the robot with the given id. If this team does not have that robot, returns an std::nullopt

Parameters

id	the id of the desired Robot

Returns: the Robot on the team with the given id if it exists, otherwise std::nullopt

◆ getRobotExpiryBufferDuration()

const Duration & getRobotExpiryBufferDuration ( ) const

Returns the Duration for which a Robot must not have been updated for before being removed from this team.

Returns: the Duration for which a Robot must not have been updated for before being removed from this team.

◆ goalie()

std::optional< Robot > goalie ( ) const

Returns the goalie robot for this team, if one is specified. Otherwise returns std::nullopt

Returns: the goalie robot for this team if one is specified, otherwise returns std::nullopt

◆ numRobots()

std::size_t numRobots ( ) const

Gets the number of robots on this team

Returns: the number of robots on this team

◆ operator!=()

bool operator!= ( const Team & other ) const

Defines the inequality operator for a Team.

Parameters

other The team to compare against for inequality

Returns: True if the other team is not equal to this team, and false otherwise

◆ operator==()

bool operator== ( const Team & other ) const

Defines the equality operator for a Team. Teams are equal if their robots are equal and have the same robot assigned as the goalie

Parameters

other The team to compare against for equality

Returns: True if the other team is equal to this team, and false otherwise

◆ removeExpiredRobots()

void removeExpiredRobots ( const Timestamp & timestamp )

Removes expired robots from the team. Robots are expired if it has been more than the expiry_buffer time has passed since they were last updated. This would happen if a robot is removed from the field, so that it is no longer seen by the cameras. After a short amount of time, we should treat robots that we can no longer see (and therefore have not been updating) as removed from the field, so we should remove them from the team.

Parameters

timestamp The timestamp for when this removal is taking place

◆ removeRobotWithId()

void removeRobotWithId ( unsigned int robot_id )

Remove the robot with the given ID from the team

If there is no robot with the given id on the team, does nothing

Parameters

robot_id The id of the robot to remove

◆ setRobotExpiryBuffer()

void setRobotExpiryBuffer ( const Duration & new_robot_expiry_buffer_duration )

Sets the Duration for which a Robot must not have been updated for before being removed from this team.

Parameters

new_robot_expiry_buffer_duration the Duration for which a Robot must not have been updated for before being removed from this team.

◆ setUnavailableRobotCapabilities()

void setUnavailableRobotCapabilities	(	RobotId	id,
		const std::set< RobotCapability > &	new_unavailable_robot_capabilities
	)

Updates the unavailable capabilities of a specific robot. If the team does not have that robot, does not do anything.

Parameters

id	the id of the desired Robot
new_unavailable_robot_capabilities	a set of the updated unavailable robot capabilities

◆ timestamp()

std::optional< Timestamp > timestamp ( ) const

Returns the timestamp of the most recently updated robot on this team

Returns: the timestamp of the most recently updated robot on this team, or std::nullopt if this team is empty

◆ updateRobots()

void updateRobots ( const std::vector< Robot > & team_robots )

Updates this team with new robots.

Exceptions

std::invalid_argument if multiple robots have the same id

Parameters

team_robots the new robots for this team

◆ updateState()

void updateState ( const Team & new_team_data )

Updates this team with new data from the given team object. This is different from a copy constructor because the team object is only used to store data, we don't take the entire state of the new_team_data. For example, the robots on this team may have complex internal state for predicting movement. The "simple" robot data such as position, velocity... from the new_team_data is used to update the state of the robots on this team, rather than the robots simply being copied over (because if we copied we would lose our state).

Parameters

new_team_data A team with the new team data

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

src/software/world/team.h
src/software/world/team.cpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Team() [1/3]

◆ Team() [2/3]

◆ Team() [3/3]

Member Function Documentation

◆ assignGoalie()

◆ clearAllRobots()

◆ clearGoalie()

◆ getAllRobots()

◆ getAllRobotsExceptGoalie()

◆ getGoalieId()

◆ getMostRecentTimestamp()

◆ getNearestRobot() [1/2]

◆ getNearestRobot() [2/2]

◆ getRobotById()

◆ getRobotExpiryBufferDuration()

◆ goalie()

◆ numRobots()

◆ operator!=()

◆ operator==()

◆ removeExpiredRobots()

◆ removeRobotWithId()

◆ setRobotExpiryBuffer()

◆ setUnavailableRobotCapabilities()

◆ timestamp()

◆ updateRobots()

◆ updateState()