robot_navigation_obstacle_factory.h

#pragma once
 
#include "proto/parameters.pb.h"
#include "proto/primitive.pb.h"
#include "shared/constants.h"
#include "software/ai/navigator/obstacle/obstacle.hpp"
#include "software/ai/navigator/trajectory/trajectory_path.h"
#include "software/geom/point.h"
#include "software/geom/polygon.h"
#include "software/logger/logger.h"
#include "software/world/world.h"
 
class RobotNavigationObstacleFactory
{
   public:
    RobotNavigationObstacleFactory(TbotsProto::RobotNavigationObstacleConfig config);
 
    std::vector<ObstaclePtr> createObstaclesFromMotionConstraints(
        const std::set<TbotsProto::MotionConstraint> &motion_constraints,
        const World &world) const;
 
    std::vector<ObstaclePtr> createObstaclesFromMotionConstraint(
        const TbotsProto::MotionConstraint &motion_constraint, const World &world) const;
 
    ObstaclePtr createStaticObstacleFromRobotPosition(const Point &robot_position) const;
 
    ObstaclePtr createStadiumEnemyRobotObstacle(const Robot &enemy_robot) const;
 
    ObstaclePtr createConstVelocityEnemyRobotObstacle(const Robot &enemy_robot) const;
 
    ObstaclePtr createFromMovingRobot(const Robot &robot,
                                      const TrajectoryPath &traj) const;
 
    ObstaclePtr createFromBallPosition(const Point &ball_position) const;
 
    ObstaclePtr createFromShape(const Circle &circle) const;
    ObstaclePtr createFromShape(const Polygon &polygon) const;
    ObstaclePtr createFromShape(const Rectangle &rectangle) const;
    ObstaclePtr createFromShape(const Stadium &stadium) const;
 
    ObstaclePtr createCircleWithTrajectory(const Circle &circle,
                                           const TrajectoryPath &traj) const;
 
    ObstaclePtr createCircleWithConstVelocity(const Circle &circle,
                                              const Vector &velocity) const;
 
    ObstaclePtr createFromBallPlacement(const Point &placement_point,
                                        const Point &ball_point) const;
 
   private:
    TbotsProto::RobotNavigationObstacleConfig config;
    double robot_radius_expansion_amount;
 
    ObstaclePtr createFromFieldRectangle(const Rectangle &field_rectangle,
                                         const Rectangle &field_lines,
                                         const Rectangle &field_boundary,
                                         double additional_expansion_amount = 0.0) const;
 
    std::vector<ObstaclePtr> createGoalObstacles(const Rectangle &goal,
                                                 bool isFriendly) const;
};