ssl_simulation_robot_control.h

#pragma once
 
#include <optional>
 
#include "proto/ssl_simulation_robot_control.pb.h"
#include "proto/ssl_simulation_robot_feedback.pb.h"
#include "proto/tbots_software_msgs.pb.h"
#include "shared/robot_constants.h"
 
std::unique_ptr<SSLSimulationProto::RobotMoveCommand> createRobotMoveCommand(
    const TbotsProto::DirectControlPrimitive& direct_control, float front_wheel_angle_deg,
    float back_wheel_angle_deg, float wheel_radius_meters);
 
std::unique_ptr<SSLSimulationProto::RobotCommand> getRobotCommandFromDirectControl(
    unsigned int robot_id,
    std::unique_ptr<TbotsProto::DirectControlPrimitive> direct_control,
    RobotConstants_t& robot_constants);
 
std::unique_ptr<SSLSimulationProto::RobotCommand> createRobotCommand(
    unsigned int robot_id,
    std::unique_ptr<SSLSimulationProto::RobotMoveCommand> move_command,
    std::optional<double> kick_speed, std::optional<double> kick_angle,
    std::optional<double> dribbler_speed);
 
std::unique_ptr<SSLSimulationProto::RobotControl> createRobotControl(
    std::vector<std::unique_ptr<SSLSimulationProto::RobotCommand>> robot_commands);