cost_function.h

#pragma once
 
#include <functional>
 
#include "proto/message_translation/tbots_protobuf.h"
#include "proto/parameters.pb.h"
#include "software/ai/passing/pass.h"
#include "software/math/math_functions.h"
#include "software/util/make_enum/make_enum.hpp"
#include "software/world/field.h"
#include "software/world/team.h"
#include "software/world/world.h"
 
double ratePass(const World& world, const Pass& pass,
                const TbotsProto::PassingConfig& passing_config);
 
double rateReceivingPosition(const World& world, const Pass& pass,
                             const TbotsProto::PassingConfig& passing_config);
 
double rateShot(const Point& shot_origin, const Field& field, const Team& enemy_team,
                const TbotsProto::PassingConfig& passing_config);
 
double ratePassShootScore(const Field& field, const Team& enemy_team, const Pass& pass,
                          const TbotsProto::PassingConfig& passing_config);
 
double ratePassEnemyRisk(const Team& enemy_team, const Pass& pass,
                         const TbotsProto::PassingConfig& passing_config);
 
double ratePassForwardQuality(const Pass& pass,
                              const TbotsProto::PassingConfig& passing_config);
 
double ratePassNotTooClose(const Pass& pass,
                           const TbotsProto::PassingConfig& passing_config);
 
double calculateInterceptRisk(const Team& enemy_team, const Pass& pass,
                              const TbotsProto::PassingConfig& passing_config);
 
double calculateInterceptRisk(const Robot& enemy_robot, const Pass& pass,
                              const TbotsProto::PassingConfig& passing_config);
 
 
double ratePassFriendlyCapability(const Team& friendly_team, const Pass& pass,
                                  const TbotsProto::PassingConfig& passing_config);
 
double getStaticPositionQuality(const Field& field, const Point& position,
                                const TbotsProto::PassingConfig& passing_config);
 
double calculateProximityRisk(const Point& point, const Team& enemy_team,
                              const TbotsProto::PassingConfig& passing_config);
 
double rateKeepAwayPosition(const Point& keep_away_position, const World& world,
                            const Pass& best_pass_so_far,
                            const Rectangle& dribbling_bounds,
                            const TbotsProto::PassingConfig& passing_config);
 
void samplePassesForVisualization(
    const World& world, const TbotsProto::PassingConfig& passing_config,
    const std::optional<Pass>& best_pass_so_far = std::nullopt);