GoalieFSM Struct Reference

Classes
struct	ControlParams

Public Member Functions
	GoalieFSM (TbotsProto::GoalieTacticConfig goalie_tactic_config, TbotsProto::RobotNavigationObstacleConfig robot_navigation_obstacle_config, TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode)
bool	shouldEvacuateCrease (const Update &event)
bool	shouldPanic (const Update &event)
bool	shouldMoveToGoalLine (const Update &event)
bool	shouldPivotChip (const Update &event)
bool	panicDone (const Update &event)
void	panic (const Update &event)
bool	retrieveDone (const Update &event)
void	retrieveFromDeadZone (const Update &event, boost::sml::back::process< DribbleFSM::Update > processEvent)
void	moveToGoalLine (const Update &event)
void	updatePivotKick (const Update &event, boost::sml::back::process< PivotKickFSM::Update > processEvent)
void	positionToBlock (const Update &event)
bool	ballInInflatedDefenseArea (const Update &event)
auto	operator() ()

Static Public Member Functions
static Point	getGoaliePositionToBlock (const Ball &ball, const Field &field, TbotsProto::GoalieTacticConfig goalie_tactic_config)
static std::vector< Point >	getIntersectionsBetweenBallVelocityAndFullGoalSegment (const Ball &ball, const Field &field)
static Rectangle	getNoChipRectangle (const Field &field)
static Point	findGoodChipTarget (const World &world, const TbotsProto::GoalieTacticConfig &goalie_tactic_config)

Static Public Attributes
static DEFINE_TACTIC_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS constexpr double	YEET_CHIP_DISTANCE_METERS = 2.0

Constructor & Destructor Documentation

GoalieFSM()

GoalieFSM ( TbotsProto::GoalieTacticConfig  goalie_tactic_config, TbotsProto::RobotNavigationObstacleConfig  robot_navigation_obstacle_config, TbotsProto::MaxAllowedSpeedMode  max_allowed_speed_mode  )

inlineexplicit

Constructor for GoalieFSM struct

Parameters

goalie_tactic_config	The config to fetch parameters from
max_allowed_speed_mode	The maximum allowed speed mode

Member Function Documentation

ballInInflatedDefenseArea()

bool ballInInflatedDefenseArea

(

const Update &

event

)

Checks if ball is in the friendly defense area

Parameters

event

GoalieFSM::Update event

findGoodChipTarget()

Point findGoodChipTarget ( const World &  world, const TbotsProto::GoalieTacticConfig &  goalie_tactic_config  )

static

Finds a good point to chip the ball to from its current position

Parameters

world	the world
goalie_tactic_config	the goalie tactic config

Returns

a point on the field that is a good place to chip to

getGoaliePositionToBlock()

Point getGoaliePositionToBlock ( const Ball &  ball, const Field &  field, TbotsProto::GoalieTacticConfig  goalie_tactic_config  )

static

Gets the position for the goalie to move to, to best position itself between the ball and the friendly goal

Parameters

ball	the ball to position the goalie relative to
field	the field to position the goalie on
goalie_tactic_config	the goalie tactic config

Returns

the position that the goalie should move to

getIntersectionsBetweenBallVelocityAndFullGoalSegment()

std::vector< Point > getIntersectionsBetweenBallVelocityAndFullGoalSegment ( const Ball &  ball, const Field &  field  )

static

Gets intersections between the ball velocity ray and the full goal segment

Parameters

ball	the ball to find interceptions with the full goal segment
field	the field to find interceptions on

Returns

the intersections between the ball velocity ray and the full goal segment

getNoChipRectangle()

Rectangle getNoChipRectangle ( const Field &  field )

static

Gets the area within the friendly goalie's no-chip rectangle

Returns

the area within the friendly goalie's no-chip rectangle

moveToGoalLine()

void moveToGoalLine

(

const Update &

event

)

Move the robot to the goal line

Parameters

event

GoalieFSM::Update event

panic()

void panic

(

const Update &

event

)

Action that updates the MovePrimitive to time_to_panic and stop the ball

Parameters

event

GoalieFSM::Update event

panicDone()

bool panicDone

(

const Update &

event

)

Guard that checks if the ball is moving slower than the panic threshold or has no intersections with the friendly goal, if true then the goalie should stop panicking

Parameters

event

GoalieFSM::Update

Returns

if the goalie should stop panicking

positionToBlock()

void positionToBlock

(

const Update &

event

)

Action that updates the MovePrimitive to position the goalie in the best spot to block shots.

Parameters

event

GoalieFSM::Update event

retrieveDone()

bool retrieveDone

(

const Update &

event

)

Guard that checks whether the goalie has finished retrieving the ball from the dead zone

Parameters

event

retrieveFromDeadZone()

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

Action that prompts the goalie to leave the crease momentarily to chip the ball away

Parameters

event

shouldEvacuateCrease()

bool shouldEvacuateCrease

(

const Update &

event

)

Guard that checks if the goalie should leave the crease the intercept the ball when it is stuck in the dead zone right that exists right outside of the crease

Parameters

event

Returns

if the goalie should leave the crease

shouldPanic()

bool shouldPanic

(

const Update &

event

)

Guard that checks if the ball is moving faster than the time_to_panic threshold and has a clear path to the goal, if both are true then the goalie should panic and move to block the ball

Parameters

event

GoalieFSM::Update

Returns

if the goalie should panic

shouldPivotChip()

bool shouldPivotChip

(

const Update &

event

)

Guard that checks if the ball is moving slower than the panic threshold and is inside the defense area, if true then the goalie should dribble and chip the ball

Parameters

event

GoalieFSM::Update

Returns

if the goalie should pivot chip the ball

updatePivotKick()

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

Action that updates the PivotKickFSM

Parameters

event	GoalieFSM::Update event
processEvent	processes the PivotKickFSM::Update

---

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

• src/software/ai/hl/stp/tactic/goalie/goalie_fsm.h
• src/software/ai/hl/stp/tactic/goalie/goalie_fsm.cpp