PassDefenderFSM Struct Reference

Inheritance diagram for PassDefenderFSM:

Collaboration diagram for PassDefenderFSM:

Classes
struct	ControlParams

Public Member Functions
	PassDefenderFSM (const TbotsProto::AiConfig &ai_config)
bool	passStarted (const Update &event)
bool	ballDeflected (const Update &event)
void	blockPass (const Update &event)
void	interceptBall (const Update &event)
bool	ballNearbyWithoutThreat (const Update &event)
void	prepareGetPossession (const Update &event, boost::sml::back::process< DribbleFSM::Update > processEvent)
auto	operator() ()

Static Public Attributes
static DEFINE_TACTIC_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS constexpr double	MIN_PASS_SPEED = 0.5
static constexpr Angle	MAX_PASS_ANGLE_DIFFERENCE = Angle::fromDegrees(30)
static constexpr Angle	MIN_DEFLECTION_ANGLE = Angle::fromDegrees(30)

Additional Inherited Members
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

PassDefenderFSM()

PassDefenderFSM ( const TbotsProto::AiConfig &  ai_config )

inlineexplicit

Constructor for PassDefenderFSM struct

Parameters

ai_config

The ai config required

Member Function Documentation

ballDeflected()

bool ballDeflected

(

const Update &

event

)

Guard that checks if the ball is deviating more than MIN_DEFLECTION_ANGLE when the ball has been kicked and a pass is in progress. Ball could be deflected due to another robot intercepting the pass, or the pass defender could have chipped the ball away themselves.

Parameters

event

PassDefenderFSM::Update event

Returns

true if ball deflected

ballNearbyWithoutThreat()

bool ballNearbyWithoutThreat

(

const Update &

event

)

Guard that determines whether it is appropriate to steal the ball

Parameters

event

PassDefenderFSM::Update event

Returns

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

blockPass()

void blockPass

(

const Update &

event

)

Action to move to the specified location to block a potential pass

Parameters

event

PassDefenderFSM::Update event

interceptBall()

void interceptBall

(

const Update &

event

)

Action to intercept an active pass and chip the ball away, adjusting the defender's position to be directly in front of the ball's trajectory for better interception

Parameters

event

PassDefenderFSM::Update event

passStarted()

bool passStarted

(

const Update &

event

)

Guard that checks if the ball has been kicked

Parameters

event

PassDefenderFSM::Update event

Returns

if the ball has been kicked

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	PassDefenderFSM::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/pass_defender/pass_defender_fsm.h
• src/software/ai/hl/stp/tactic/pass_defender/pass_defender_fsm.cpp