dribble_tactic.h

#pragma once
 
#include "software/ai/hl/stp/tactic/dribble/dribble_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
 
class DribbleTactic : public Tactic
{
   public:
    explicit DribbleTactic(TbotsProto::AiConfig ai_config);
 
    DribbleTactic() = delete;
 
    void updateControlParams(std::optional<Point> dribble_destination,
                             std::optional<Angle> final_dribble_orientation,
                             bool allow_excessive_dribbling = false);
 
    void accept(TacticVisitor& visitor) const override;
 
    DEFINE_TACTIC_DONE_AND_GET_FSM_STATE
 
   private:
    void updatePrimitive(const TacticUpdate& tactic_update, bool reset_fsm) override;
 
    std::map<RobotId, std::unique_ptr<FSM<DribbleFSM>>> fsm_map;
    DribbleFSM::ControlParams control_params;
    TbotsProto::AiConfig ai_config;
};
 
COPY_TACTIC(PlaceBallTactic, DribbleTactic)