pass_defender_tactic.h

#pragma once
 
#include "proto/parameters.pb.h"
#include "software/ai/hl/stp/tactic/pass_defender/pass_defender_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
#include "software/geom/point.h"
 
class PassDefenderTactic : public Tactic
{
   public:
    explicit PassDefenderTactic(TbotsProto::AiConfig ai_config);
 
    void updateControlParams(const Point& position_to_block_from,
                             TbotsProto::BallStealMode ball_steal_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<PassDefenderFSM>>> fsm_map;
 
    PassDefenderFSM::ControlParams control_params;
    TbotsProto::AiConfig ai_config;
};