motion_constraint_visitor.h

#pragma once
 
#include <set>
 
#include "proto/primitive.pb.h"
#include "software/ai/hl/stp/tactic/tactic.h"
#include "software/ai/hl/stp/tactic/tactic_visitor.h"
#include "software/world/game_state.h"
 
class MotionConstraintVisitor : public TacticVisitor
{
   public:
    explicit MotionConstraintVisitor() = default;
 
    void visit(const GoalieTactic &tactic) override;
    void visit(const CreaseDefenderTactic &tactic) override;
    void visit(const ShadowEnemyTactic &tactic) override;
    void visit(const MoveTactic &tactic) override;
    void visit(const ChipTactic &tactic) override;
    void visit(const KickTactic &tactic) override;
    void visit(const KickoffChipTactic &tactic) override;
    void visit(const HaltTactic &tactic) override;
    void visit(const PenaltyKickTactic &tactic) override;
    void visit(const PenaltySetupTactic &tactic) override;
    void visit(const ReceiverTactic &tactic) override;
    void visit(const AttackerTactic &tactic) override;
    void visit(const DefenseShadowEnemyTactic &tactic) override;
    void visit(const MoveTestTactic &tactic) override;
    void visit(const StopTestTactic &tactic) override;
    void visit(const GoalieTestTactic &tactic) override;
    void visit(const DribbleTactic &tactic) override;
    void visit(const GetBehindBallTactic &tactic) override;
    void visit(const PivotKickTactic &tactic) override;
    void visit(const MoveGoalieToGoalLineTactic &tactic) override;
    void visit(const PrepareKickoffMoveTactic &tactic) override;
    void visit(const PlaceBallTactic &tactic) override;
    void visit(const PlaceBallMoveTactic &tactic) override;
    void visit(const WallKickoffTactic &tactic) override;
    void visit(const AvoidInterferenceTactic &tactic) override;
    void visit(const PassDefenderTactic &tactic) override;
 
    std::set<TbotsProto::MotionConstraint> getUpdatedMotionConstraints(
        const Tactic &tactic,
        const std::set<TbotsProto::MotionConstraint> &existing_motion_constraints);
 
   private:
    std::set<TbotsProto::MotionConstraint> current_motion_constraints;
};