FreeKickPlayFSM Struct Reference

#include <free_kick_play_fsm.h>

Classes
struct	ControlParams

Public Member Functions
DEFINE_PLAY_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS	FreeKickPlayFSM (const TbotsProto::AiConfig &ai_config)
void	setupPosition (const Update &event)
bool	setupDone (const Update &event)
void	updateReceiverPositioningTactics (const WorldPtr world, unsigned int num_tactics, const std::vector< Point > &existing_receiver_positions={}, const std::optional< Point > &pass_origin_override=std::nullopt)
void	setReceiverAndDefenderTactics (PriorityTacticVector &tactics_to_run, const Update &event, int ideal_num_receivers, int num_tactics_already_assigned, const std::vector< Point > &existing_receiver_positions={}, const std::optional< Point > &pass_origin_override=std::nullopt)
void	updateAlignToBallTactic (const WorldPtr &world_ptr)
void	startLookingForPass (const Update &event)
void	lookForPass (const Update &event)
void	shootBall (const Update &event)
void	passBall (const Update &event)
void	chipBall (const Update &event)
bool	shotFound (const Update &event)
bool	passFound (const Update &event)
bool	shouldAbortPass (const Update &event)
bool	timeExpired (const Update &event)
bool	shotDone (const Update &event)
bool	passDone (const Update &event)
bool	chipDone (const Update &event)
auto	operator() ()

Detailed Description

This FSM implements the free kick play. The logic of this play is:

• One robot (the kicker) attempts to shoot first. If there is a good shot, then it will shoot the ball.
• If there is no good shot, the kicker will attempt to pass. Two robots try to get in good receiving positions to receive a pass.
• If we cannot find a pass in time, the kicker will chip the ball towards the friendly robot furthest up the field.

Constructor & Destructor Documentation

FreeKickPlayFSM()

FreeKickPlayFSM ( const TbotsProto::AiConfig &  ai_config )

explicit

Creates a free kick play FSM

Parameters

ai_config

the play config for this play FSM

Member Function Documentation

chipBall()

void chipBall

(

const Update &

event

)

Action to chip the ball towards the enemy net

Parameters

event

the FreeKickPlayFSM Update event

chipDone()

bool chipDone

(

const Update &

event

)

Guard that checks if the chip is completed

Parameters

event

the FreeKickPlayFSM Update event

Returns

whether the chip is completed

lookForPass()

void lookForPass

(

const Update &

event

)

Action that looks for a pass between the kicker and another robot

Parameters

event

the FreeKickPlayFSM Update event

passBall()

void passBall

(

const Update &

event

)

Action to pass the ball to a friendly robot

Parameters

event

the FreeKickPlayFSM Update event

passDone()

bool passDone

(

const Update &

event

)

Guard that checks if the pass is completed

Parameters

event

the FreeKickPlayFSM Update event

Returns

whether the pass is completed

passFound()

bool passFound

(

const Update &

event

)

Guard that checks if we should pass the ball to a friendly robot

Parameters

event

the FreeKickPlayFSM Update event

Returns

whether we should pass the ball

setReceiverAndDefenderTactics()

void setReceiverAndDefenderTactics	(	PriorityTacticVector &	tactics_to_run,
		const Update &	event,
		int	ideal_num_receivers,
		int	num_tactics_already_assigned,
		const std::vector< Point > &	existing_receiver_positions = {},
		const std::optional< Point > &	pass_origin_override = std::nullopt
	)

Sets the receiver and defender tactics for the free kick play

Parameters

tactics_to_run	The priority tactic vector to add the tactics to
event	The update event
ideal_num_receivers	The ideal number of receivers to assign. This value may be adjusted based on the number of available tactics.
num_tactics_already_assigned	The number of tactics already assigned from event.common.num_tactics
existing_receiver_positions	A set of positions of existing receiver positions that should be taken into account when assigning additional offensive tactics.
pass_origin_override	An optional point that the pass origin should be overridden to

setupDone()

bool setupDone

(

const Update &

event

)

Guard that checks if the robots are in position to start the free kick

Parameters

event

the FreeKickPlayFSM Update event

Returns

whether the robots are in position to start the free kick

setupPosition()

void setupPosition

(

const Update &

event

)

Action that sets up the robots in position to perform the free kick

Parameters

event

the FreeKickPlayFSM Update event

shootBall()

void shootBall

(

const Update &

event

)

Action to shoot the ball towards the enemy goal directly

Parameters

event

the FreeKickPlayFSM Update event

shotDone()

bool shotDone

(

const Update &

event

)

Guard that checks if the shot is completed

Parameters

event

the FreeKickPlayFSM Update event

Returns

whether the shot is completed

shotFound()

bool shotFound

(

const Update &

event

)

Guard that checks if we should shoot the ball towards the enemy goal

Parameters

event

the FreeKickPlayFSM Update event

Returns

whether we should shoot the ball directly

shouldAbortPass()

bool shouldAbortPass

(

const Update &

event

)

Guard on whether to abort the pass

Parameters

event

the FreeKickPlayFSM Update event

Returns

whether the pass should be aborted

startLookingForPass()

void startLookingForPass

(

const Update &

event

)

Action that starts the process of looking for a pass

Parameters

event

the FreeKickPlayFSM Update event

timeExpired()

bool timeExpired

(

const Update &

event

)

Guard that checks if the allotted time to search for a pass is over

Parameters

event

the FreeKickPlayFSM Update event

Returns

whether the time to search for a pass is over

updateAlignToBallTactic()

void updateAlignToBallTactic

(

const WorldPtr &

world_ptr

)

Updates the kicker to align to the ball

Parameters

world

the latest world

updateReceiverPositioningTactics()

void updateReceiverPositioningTactics	(	const WorldPtr	world,
		unsigned int	num_tactics,
		const std::vector< Point > &	existing_receiver_positions = {},
		const std::optional< Point > &	pass_origin_override = std::nullopt
	)

Updates the offensive positioning tactics

Parameters

world	the world
num_tactics	the number of tactics to assign
existing_receiver_positions	A set of positions of existing receiver positions that should be taken into account when assigning additional offensive tactics.
pass_origin_override	An optional point that the pass origin should be overridden to

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

• src/software/ai/hl/stp/play/free_kick/free_kick_play_fsm.h
• src/software/ai/hl/stp/play/free_kick/free_kick_play_fsm.cpp