primitive_msg_factory.h

#pragma once
 
#include <optional>
 
#include "proto/primitive.pb.h"
#include "proto/primitive/primitive_types.h"
#include "shared/constants.h"
#include "shared/robot_constants.h"
#include "software/geom/angle.h"
#include "software/geom/angular_velocity.h"
#include "software/geom/point.h"
#include "software/util/make_enum/make_enum.hpp"
#include "software/world/robot.h"
 
std::unique_ptr<TbotsProto::Primitive> createStopPrimitiveProto();
 
std::unique_ptr<TbotsProto::Primitive> createDirectControlPrimitive(
    const Vector &velocity, AngularVelocity angular_velocity, int dribbler_rpm,
    const TbotsProto::AutoChipOrKick &auto_chip_or_kick);