Inheritance diagram for DefenderFSMBase:

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Static Public Member Functions
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)

Member Function Documentation

◆ ballNearbyWithoutThreat()

bool ballNearbyWithoutThreat	(	const WorldPtr &	world_ptr,
		const Robot &	robot,
		const TbotsProto::BallStealMode &	ball_steal_mode,
		const TbotsProto::DefenderStealConfig &	defender_steal_config
	)

static

Guard that determines whether it is appropriate to steal the ball for FSMs

Parameters

world_ptr	The current state of the world
robot	The current defender robot
ball_steal_mode	The aggressive behaviour of the defender denoting whether to steal the ball
defender_steal_config	The dynamic params containing the defender's config

Returns: true if stealing is enabled and the ball is nearby, unguarded by the enemy, and within a max get possession threshold

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

static

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

Parameters

tactic_update	the Defender's Update event
processEvent	processes the DribbleFSM::Update

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