get_behind_ball_tactic.h

#pragma once
 
#include "software/ai/hl/stp/tactic/get_behind_ball/get_behind_ball_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
 
class GetBehindBallTactic : public Tactic
{
   public:
    explicit GetBehindBallTactic();
 
    void updateControlParams(const Point& ball_location, Angle chick_direction);
 
    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<GetBehindBallFSM>>> fsm_map;
 
    GetBehindBallFSM::ControlParams control_params;
};