pivot_kick_tactic.h

#pragma once
 
#include "proto/parameters.pb.h"
#include "software/ai/evaluation/enemy_threat.h"
#include "software/ai/hl/stp/tactic/pivot_kick/pivot_kick_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
#include "software/geom/segment.h"
 
class PivotKickTactic : public Tactic
{
   public:
    explicit PivotKickTactic(TbotsProto::AiConfig ai_config);
 
    PivotKickTactic() = delete;
 
    DEFINE_TACTIC_DONE_AND_GET_FSM_STATE
 
    void updateControlParams(const Point& kick_origin, const Angle& kick_direction,
                             AutoChipOrKick auto_chip_or_kick);
 
    void accept(TacticVisitor& visitor) const override;
 
   private:
    void updatePrimitive(const TacticUpdate& tactic_update, bool reset_fsm) override;
 
    std::map<RobotId, std::unique_ptr<FSM<PivotKickFSM>>> fsm_map;
 
    PivotKickFSM::ControlParams control_params;
    TbotsProto::AiConfig ai_config;
};
 
COPY_TACTIC(WallKickoffTactic, PivotKickTactic)