kick_tactic.h

#pragma once
 
#include <queue>
 
#include "software/ai/hl/stp/tactic/kick/kick_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
 
class KickTactic : public Tactic
{
   public:
    explicit KickTactic();
 
    void updateControlParams(const Point& kick_origin, const Angle& kick_direction,
                             double kick_speed_meters_per_second);
 
    void updateControlParams(const Point& kick_origin, const Point& kick_target,
                             double kick_speed_meters_per_second);
 
    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<KickFSM>>> fsm_map;
 
    // Tactic parameters
    KickFSM::ControlParams control_params;
};