pass.h

#pragma once
 
#include <array>
#include <cstdlib>
#include <iostream>
 
#include "proto/parameters.pb.h"
#include "shared/constants.h"
#include "software/geom/point.h"
#include "software/time/timestamp.h"
 
// The number of parameters (representing a pass) that we optimize
// (receive_location_x, receive_location_y)
static const int NUM_PARAMS_TO_OPTIMIZE = 2;
 
class Pass
{
   public:
    Pass() = delete;
 
    Pass(Point passer_point, Point receiver_point, double pass_speed_m_per_s);
 
    static Pass fromPassArray(
        Point passer_point, const std::array<double, NUM_PARAMS_TO_OPTIMIZE>& pass_array,
        double pass_speed_m_per_s);
 
 
    static Pass fromDestReceiveSpeed(const Point& ball_position,
                                     const Point& pass_destination,
                                     double dest_speed_m_per_s,
                                     double min_pass_speed_m_per_s,
                                     double max_pass_speed_m_per_s);
    static Pass fromDestReceiveSpeed(const Point& ball_position,
                                     const Point& pass_destination,
                                     const TbotsProto::PassingConfig& passing_config);
 
    static double getPassSpeed(const Point& ball_position, const Point& pass_destination,
                               double receive_speed_m_per_s,
                               double min_pass_speed_m_per_s,
                               double max_pass_speed_m_per_s);
 
    std::array<double, NUM_PARAMS_TO_OPTIMIZE> toPassArray() const;
 
    Point passerPoint() const;
 
    Point receiverPoint() const;
 
    Angle receiverOrientation() const;
 
    Angle passerOrientation() const;
 
    double speed() const;
 
    Duration estimatePassDuration() const;
 
    friend std::ostream& operator<<(std::ostream& output_stream, const Pass& pass);
 
    bool operator==(const Pass& other) const;
 
   private:
    // The location of the passer
    Point passer_point;
 
    // The location of the receiver
    Point receiver_point;
 
    // The speed of the pass in meters/second
    double pass_speed_m_per_s;
};