BallPlacementPlayFSM Struct Reference

Classes
struct	ControlParams

Public Member Functions
DEFINE_PLAY_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS	BallPlacementPlayFSM (TbotsProto::AiConfig ai_config)
void	kickOffWall (const Update &event)
void	alignPlacement (const Update &event)
void	placeBall (const Update &event)
void	startWait (const Update &event)
void	retreat (const Update &event)
bool	shouldKickOffWall (const Update &event)
bool	alignDone (const Update &event)
bool	kickDone (const Update &event)
bool	ballPlaced (const Update &event)
bool	waitDone (const Update &event)
bool	retreatDone (const Update &event)
Angle	calculateWallKickoffAngle (const Point &ball_pos, const Rectangle &field_lines)
void	setupMoveTactics (const Update &event)
auto	operator() ()

Constructor & Destructor Documentation

BallPlacementPlayFSM()

BallPlacementPlayFSM ( TbotsProto::AiConfig  ai_config )

explicit

Creates a ball placement play FSM

Parameters

ai_config

the play config for this play FSM

Member Function Documentation

alignDone()

bool alignDone

(

const Update &

event

)

Guard on whether the robot is aligned with the ball and placement point

Parameters

event

the BallPlacementPlayFSM Update event

Returns

whether the robot is in position to begin placing the ball

alignPlacement()

void alignPlacement

(

const Update &

event

)

Action that finds a point where the ball's current position aligns with the ball placement position, and moves the robot so that it is aligned to dribble straight directly to the placement point

Parameters

event

the BallPlacementPlayFSM Update event

ballPlaced()

bool ballPlaced

(

const Update &

event

)

Guard on whether the placing robot has finished placing the ball into the desired position

Parameters

event

the BallPlacementPlayFSM Update event

Returns

whether the ball has been placed into the desired position

calculateWallKickoffAngle()

Angle calculateWallKickoffAngle	(	const Point &	ball_pos,
		const Rectangle &	field_lines
	)

Helper function for calculating the angle to kick the ball off of a wall

Parameters

ball_pos	the ball position to use when calculating the kick angle
field_lines	the field lines of the playing area

Returns

the kick angle

kickDone()

bool kickDone

(

const Update &

event

)

Guard on whether the placing robot has finished moving the ball into a better position with a kick

Parameters

event

the BallPlacementPlayFSM Update event

Returns

whether the kick has been performed

kickOffWall()

void kickOffWall

(

const Update &

event

)

Action that has the placing robot kick the ball off the wall to give more space to dribble

Parameters

event

the BallPlacementPlayFSM Update event

placeBall()

void placeBall

(

const Update &

event

)

Action that has the placing robot dribble the ball to the destination, while other robots line up outside of the defense area

Parameters

event

the BallPlacementPlayFSM Update event

retreat()

void retreat

(

const Update &

event

)

Action that has the placing robot retreat after placing the ball

Parameters

event

the BallPlacementPlayFSM Update event

retreatDone()

bool retreatDone

(

const Update &

event

)

Guard on whether the robot has retreated outside of the required range

Parameters

event

the BallPlacementPlayFSM Update event

Returns

whether the robot has retreated outside of the required range

setupMoveTactics()

void setupMoveTactics

(

const Update &

event

)

Helper function that populates the move_tactics field with MoveTactics that organize the robots away from the ball placing robot

Parameters

event

the BallPlacementPlayFSM Update event

shouldKickOffWall()

bool shouldKickOffWall

(

const Update &

event

)

Guard on whether the ball is in a "dead zone"

Parameters

event

the BallPlacementPlayFSM Update event

Returns

whether the ball is in a "dead zone"

startWait()

void startWait

(

const Update &

event

)

Action that waits stationary 5 seconds for the dribbler to stop spinning

Parameters

event

the BallPlacementPlayFSM Update event

waitDone()

bool waitDone

(

const Update &

event

)

Guard on whether the robot has waited sufficiently

Parameters

event

the BallPlacementPlayFSM Update event

Returns

whether the robot has waited for 5 seconds

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The documentation for this struct was generated from the following files:

• src/software/ai/hl/stp/play/ball_placement/ball_placement_play_fsm.h
• src/software/ai/hl/stp/play/ball_placement/ball_placement_play_fsm.cpp