enemy_threat.h

#pragma once
 
#include <optional>
#include <vector>
 
#include "software/world/world.h"
 
// This struct stores the concept of an Enemy Threat. It contains all the necessary
// information about an enemy robot and why it's threatening to the friendly team.
struct EnemyThreat
{
    // The enemy robot
    Robot robot;
 
    // Whether or not this robot has possession of the ball
    bool has_ball;
 
    // How much of the goal the enemy robot can see
    // This does not account for obstacles
    // For example, robots in the corner would have a very small angle
    // while robots directly in front of the net would have a large angle
    Angle goal_angle;
 
    // The largest angle the robot has to shoot on the friendly net, taking obstacles
    // into account
    std::optional<Angle> best_shot_angle;
 
    // The target the robot would shoot at
    std::optional<Point> best_shot_target;
 
    // How many passes it would take for this robot to get the ball
    // 0 - The robot already has the ball
    // 1 - The robot needs 1 pass to get the ball
    // 2 - ...etc
    int num_passes_to_get_possession;
 
    // The robot that would pass to this robot if necessary
    std::optional<Robot> passer;
 
    // Define the equality operator for this struct since one is not generated by
    // default. This is especially useful for the unit tests.
    bool operator==(const EnemyThreat &other) const
    {
        return this->robot == other.robot && this->has_ball == other.has_ball &&
               this->goal_angle == other.goal_angle &&
               this->best_shot_angle == other.best_shot_angle &&
               this->best_shot_target == other.best_shot_target &&
               this->num_passes_to_get_possession == other.num_passes_to_get_possession &&
               this->passer == other.passer;
    }
};
 
std::map<Robot, std::vector<Robot>, Robot::cmpRobotByID> findAllReceiverPasserPairs(
    const std::vector<Robot> &possible_passers,
    const std::vector<Robot> &possible_receivers, const std::vector<Robot> &all_robots);
 
std::optional<std::pair<int, std::optional<Robot>>> getNumPassesToRobot(
    const Robot &initial_passer, const Robot &final_receiver, const Team &passing_team,
    const Team &other_team);
 
void sortThreatsInDecreasingOrder(std::vector<EnemyThreat> &threats);
 
std::vector<EnemyThreat> getAllEnemyThreats(const Field &field, const Team &friendly_team,
                                            Team enemy_team, const Ball &ball,
                                            bool include_goalie);