DribbleFSM Struct Reference

Classes
struct	ControlParams

Public Member Functions
	DribbleFSM (TbotsProto::DribbleTacticConfig dribble_tactic_config)
Point	findInterceptionPoint (const Robot &robot, const Ball &ball, const Field &field)
void	getPossession (const Update &event)
void	dribble (const Update &event)
void	loseBall (const Update &event)
bool	havePossession (const Update &event)
bool	lostPossession (const Update &event)
bool	dribblingDone (const Update &event)
bool	shouldLoseBall (const Update &event)
auto	operator() ()

Static Public Member Functions
static DEFINE_TACTIC_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS Point	robotPositionToFaceBall (const Point &ball_position, const Angle &face_ball_angle, double additional_offset=0.0)
static Point	getDribbleBallDestination (const Point &ball_position, std::optional< Point > dribble_destination)
static Angle	getFinalDribbleOrientation (const Point &ball_position, const Point &robot_position, std::optional< Angle > final_dribble_orientation)
static std::tuple< Point, Angle >	calculateNextDribbleDestinationAndOrientation (const Ball &ball, const Robot &robot, std::optional< Point > dribble_destination_opt, std::optional< Angle > final_dribble_orientation_opt)

Constructor & Destructor Documentation

DribbleFSM()

DribbleFSM ( TbotsProto::DribbleTacticConfig  dribble_tactic_config )

inlineexplicit

Constructor for DribbleFSM

Parameters

dribble_tactic_config

The config to fetch parameters from

Member Function Documentation

calculateNextDribbleDestinationAndOrientation()

std::tuple< Point, Angle > calculateNextDribbleDestinationAndOrientation ( const Ball &  ball, const Robot &  robot, std::optional< Point >  dribble_destination_opt, std::optional< Angle >  final_dribble_orientation_opt  )

static

Calculates the next dribble destination and orientation

Parameters

ball	The ball
robot	The robot
dribble_destination_opt	The dribble destination
final_dribble_orientation_opt	The final dribble orientation

Returns

the next dribble destination and orientation

dribble()

void dribble

(

const Update &

event

)

Action to dribble the ball

This action will orient the robot towards the destination, dribble to the destination, and then pivot to face the expected orientation

Parameters

event

DribbleFSM::Update

dribblingDone()

bool dribblingDone

(

const Update &

event

)

Guard that checks if the ball is at the dribble_destination and robot is facing the right direction with possession of the ball

Parameters

event

DribbleFSM::Update

Returns

if the ball is at the dribble_destination, robot is facing the correct direction and ahs possession of the ball

findInterceptionPoint()

Point findInterceptionPoint	(	const Robot &	robot,
		const Ball &	ball,
		const Field &	field
	)

Calculates the interception point for intercepting balls

Parameters

robot	The robot to do the interception
ball	The ball to intercept @field The field to intercept on

Returns

the best interception point

getDribbleBallDestination()

Point getDribbleBallDestination ( const Point &  ball_position, std::optional< Point >  dribble_destination  )

static

Gets the destination to dribble the ball to from the update event

Parameters

event

DribbleFSM::Update

Returns

the destination to dribble the ball to

getFinalDribbleOrientation()

Angle getFinalDribbleOrientation ( const Point &  ball_position, const Point &  robot_position, std::optional< Angle >  final_dribble_orientation  )

static

Gets the final dribble orientation from the update event

Parameters

event

DribbleFSM::Update

Returns

the final orientation to finish dribbling facing

getPossession()

void getPossession

(

const Update &

event

)

Action to get possession of the ball

If the ball is moving quickly, then move in front of the ball If the ball is moving slowly, then chase the ball

Parameters

event

DribbleFSM::Update

havePossession()

bool havePossession

(

const Update &

event

)

Guard that checks if the robot has possession of the ball

Parameters

event

DribbleFSM::Update

Returns

if the ball has been have_possession

loseBall()

void loseBall

(

const Update &

event

)

Action to lose possession of the ball

Parameters

event

DribbleFSM::Update

lostPossession()

bool lostPossession

(

const Update &

event

)

Guard that checks if the robot has lost possession of the ball

Parameters

event

DribbleFSM::Update

Returns

if the ball possession has been lost

robotPositionToFaceBall()

Point robotPositionToFaceBall ( const Point &  ball_position, const Angle &  face_ball_angle, double  additional_offset = 0.0  )

static

Converts the ball position to the robot's position given the direction that the robot faces the ball

Parameters

ball_position	The ball position
face_ball_angle	The angle to face the ball
additional_offset	Additional offset from facing the ball

Returns

the point that the robot should be positioned to face the ball and dribble the ball

shouldLoseBall()

bool shouldLoseBall

(

const Update &

event

)

Guard that checks if the the robot should lose possession to avoid excessive dribbling

Parameters

event

DribbleFSM::Update

Returns

if the ball possession should be lost

---

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

• src/software/ai/hl/stp/tactic/dribble/dribble_fsm.h
• src/software/ai/hl/stp/tactic/dribble/dribble_fsm.cpp