CreaseDefenderFSM Struct Reference

Inheritance diagram for CreaseDefenderFSM:

Collaboration diagram for CreaseDefenderFSM:

Classes
struct	ControlParams

Public Member Functions
	CreaseDefenderFSM (const TbotsProto::AiConfig &ai_config)
bool	ballNearbyWithoutThreat (const Update &event)
void	prepareGetPossession (const Update &event, boost::sml::back::process< DribbleFSM::Update > processEvent)
void	blockThreat (const Update &event, boost::sml::back::process< MoveFSM::Update > processEvent)
auto	operator() ()

Static Public Member Functions
static DEFINE_TACTIC_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS std::optional< Point >	findBlockThreatPoint (const Field &field, const Point &enemy_threat_origin, const TbotsProto::CreaseDefenderAlignment &crease_defender_alignment, double robot_obstacle_inflation_factor)
Static Public Member Functions inherited from DefenderFSMBase
static bool	ballNearbyWithoutThreat (const WorldPtr &world_ptr, const Robot &robot, const TbotsProto::BallStealMode &ball_steal_mode, const TbotsProto::DefenderStealConfig &defender_steal_config)
static void	prepareGetPossession (const TacticUpdate &tactic_update, boost::sml::back::process< DribbleFSM::Update > processEvent)

Constructor & Destructor Documentation

CreaseDefenderFSM()

CreaseDefenderFSM ( const TbotsProto::AiConfig &  ai_config )

inlineexplicit

Constructor for CreaseDefenderFSM struct

Parameters

ai_config

The ai config for this struct

Member Function Documentation

ballNearbyWithoutThreat()

bool ballNearbyWithoutThreat

(

const Update &

event

)

Guard that checks if the ball is on friendly side, nearby, and unguarded by the enemy (only if stealing is enabled).

Parameters

event

CreaseDefenderFSM::Update event

Returns

true if the ball is on friendly side, nearby, unguarded by the enemy up, and within a max get possession threshold

blockThreat()

void blockThreat	(	const Update &	event,
		boost::sml::back::process< MoveFSM::Update >	processEvent
	)

This is an Action that blocks the threat

Parameters

event

CreaseDefenderFSM::Update event

findBlockThreatPoint()

std::optional< Point > findBlockThreatPoint ( const Field &  field, const Point &  enemy_threat_origin, const TbotsProto::CreaseDefenderAlignment &  crease_defender_alignment, double  robot_obstacle_inflation_factor  )

static

Finds the point to block the threat

Parameters

field	The field
enemy_threat_origin	The origin of the threat to defend against
crease_defender_alignment	alignment of the crease defender
robot_obstacle_inflation_factor	The robot obstacle inflation factor

Returns

The best point to block the threat if it exists

prepareGetPossession()

void prepareGetPossession	(	const Update &	event,
		boost::sml::back::process< DribbleFSM::Update >	processEvent
	)

This is the Action that prepares for getting possession of the ball

Parameters

event	CreaseDefenderFSM::Update event
processEvent	processes the DribbleFSM::Update

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

• src/software/ai/hl/stp/tactic/crease_defender/crease_defender_fsm.h
• src/software/ai/hl/stp/tactic/crease_defender/crease_defender_fsm.cpp