penalty_kick_tactic.h

#pragma once
 
#include "shared/constants.h"
#include "software/ai/evaluation/calc_best_shot.h"
#include "software/ai/hl/stp/tactic/penalty_kick/penalty_kick_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
#include "software/logger/logger.h"
 
 
class PenaltyKickTactic : public Tactic
{
   public:
    explicit PenaltyKickTactic(TbotsProto::AiConfig ai_config);
 
    PenaltyKickTactic() = delete;
 
    void updateControlParams();
 
    DEFINE_TACTIC_DONE_AND_GET_FSM_STATE
 
    void accept(TacticVisitor &visitor) const override;
 
   private:
    void updatePrimitive(const TacticUpdate &tactic_update, bool reset_fsm) override;
 
    std::map<RobotId, std::unique_ptr<FSM<PenaltyKickFSM>>> fsm_map;
    TbotsProto::AiConfig ai_config;
};