shadow_enemy_tactic.h

#pragma once
 
 
#include "software/ai/evaluation/enemy_threat.h"
#include "software/ai/hl/stp/tactic/shadow_enemy/shadow_enemy_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
 
class ShadowEnemyTactic : public Tactic
{
   public:
    explicit ShadowEnemyTactic();
 
    void updateControlParams(std::optional<EnemyThreat> enemy_threat,
                             double shadow_distance);
 
    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<ShadowEnemyFSM>>> fsm_map;
 
    ShadowEnemyFSM::ControlParams control_params;
};