receiver_tactic.h

#pragma once
 
#include "software/ai/evaluation/shot.h"
#include "software/ai/hl/stp/tactic/receiver/receiver_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
#include "software/ai/passing/pass.h"
#include "software/geom/ray.h"
 
class ReceiverTactic : public Tactic
{
   public:
    explicit ReceiverTactic(const TbotsProto::ReceiverTacticConfig& receiver_config);
 
    void updateControlParams(std::optional<Pass> updated_pass,
                             bool disable_one_touch_shot = false);
 
    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<ReceiverFSM>>> fsm_map;
 
    ReceiverFSM::ControlParams control_params;
    TbotsProto::ReceiverTacticConfig receiver_config;
};