move_tactic.h

#pragma once
 
#include "software/ai/hl/stp/tactic/move/move_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
 
class MoveTactic : public Tactic
{
   public:
    explicit MoveTactic();
 
    void updateControlParams(
        Point destination, Angle final_orientation,
        TbotsProto::DribblerMode dribbler_mode = TbotsProto::DribblerMode::OFF,
        TbotsProto::BallCollisionType ball_collision_type =
            TbotsProto::BallCollisionType::AVOID,
        AutoChipOrKick auto_chip_or_kick = {AutoChipOrKickMode::OFF, 0},
        TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode =
            TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT,
        TbotsProto::ObstacleAvoidanceMode obstacle_avoidance_mode =
            TbotsProto::ObstacleAvoidanceMode::AGGRESSIVE);
 
    void updateControlParams(Point destination, Angle final_orientation,
                             TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode,
                             TbotsProto::ObstacleAvoidanceMode obstacle_avoidance_mode);
 
    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<MoveFSM>>> fsm_map;
 
    MoveFSM::ControlParams control_params;
};
 
// Creates duplicates of MoveTactic for various situations
COPY_TACTIC(PenaltySetupTactic, MoveTactic)
COPY_TACTIC(MoveGoalieToGoalLineTactic, MoveTactic)
COPY_TACTIC(PrepareKickoffMoveTactic, MoveTactic)
COPY_TACTIC(PlaceBallMoveTactic, MoveTactic)
COPY_TACTIC(AvoidInterferenceTactic, MoveTactic)