find_passes.h

#pragma once
 
#include "shared/constants.h"
#include "software/ai/passing/pass.h"
#include "software/geom/algorithms/contains.h"
#include "software/geom/algorithms/intersects.h"
#include "software/geom/circle.h"
#include "software/geom/segment.h"
#include "software/world/world.h"
 
struct AllPasses
{
    // A vector containing the receiving robots of all indirect passes to open robots on
    // the friendly_team, a indirect pass is a pass where there is an obstacle between the
    // passing and receiving robots
    std::vector<Robot> direct_passes;
 
    // A vector containing receiving robots of all direct passes to open robots on the
    // friendly_team, a direct pass is a pass where there is no obstacle between the
    // passing and receiving robots
    std::vector<Robot> indirect_passes;
};
 
 
 
AllPasses findAllPasses(const Robot& robot, const Team& friendly_team,
                        const Team& enemy_team,
                        double radius = ROBOT_MAX_RADIUS_METERS * 1.5);
 
 
Circle getObstacle(const Robot& robot, double radius);
 
 
std::vector<Circle> getObstacles(const std::vector<Robot>& robots, double radius);
 
std::vector<Robot> findOpenFriendlyRobots(const Team& friendly_team,
                                          const Team& enemy_team, double radius);