PenaltyKickFSM Struct Reference

Classes
struct	ControlParams

Public Member Functions
	PenaltyKickFSM ()
void	shoot (const Update &event, boost::sml::back::process< KickFSM::Update > processEvent)
void	updateApproachKeeper (const Update &event, boost::sml::back::process< DribbleFSM::Update > processEvent)
void	adjustOrientationForShot (const Update &event, boost::sml::back::process< DribbleFSM::Update > processEvent)
bool	takePenaltyShot (const Update &event)
bool	timeOutApproach (const Update &event)
auto	operator() ()

Static Public Member Functions
static DEFINE_TACTIC_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS bool	evaluatePenaltyShot (std::optional< Robot > enemy_goalie, Field field, Point ball_position, Robot robot)
static const Point	evaluateNextShotPosition (std::optional< Robot > enemy_goalie, Field field)

Constructor & Destructor Documentation

PenaltyKickFSM()

PenaltyKickFSM

(

)

Constructor for DribbleFSM

Member Function Documentation

adjustOrientationForShot()

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

Action that orients the shooter to prepare for a shot.

Parameters

event	PenaltyKickFSM::Update
processEvent	processes the DribbleFSM::Update

evaluateNextShotPosition()

const Point evaluateNextShotPosition ( std::optional< Robot >  enemy_goalie, Field  field  )

static

Helper function that returns the point on the enemy goal line where the shooter should aim at.

Parameters

enemy_goalie	the goalie that the shooter is scoring against
field	the field being played on

Returns

the Point on the enemy goal-line where the shooter robot should aim

evaluatePenaltyShot()

bool evaluatePenaltyShot ( std::optional< Robot >  enemy_goalie, Field  field, Point  ball_position, Robot  robot  )

static

Helper function that determines whether the shooter robot has a viable shot on net.

Parameters

enemy_goalie	the enemy goalie that we are scoring against
field	the current field being played on
ball_position	the coordinate location of the ball
robot	the shooter robot

Returns

true if the robot has a viable shot and false if the enemy goalkeeper will likely save the shot.

 B
+--\----------------------------------+ goal line
   \              +-------+
    \           C |       | enemy_goalie
     \         ---+-------+
      \        ---/
       \        ---/
        \   ---/
       A --/
          \
           \
            \
             \ D
         +-------+
         |       | bot
         +-------+

Segment BD represents the ball's path to the goal Segment AC is the smallest path required by the enemy to intercept BD

This function returns true when the enemy goalie doesn't have enough time to block the shot at A before the ball moves past that point.

shoot()

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

Action that causes the shooter to shoot the ball.

Parameters

event	PenaltyKickFSM::Update event
processEvent	processes the KickFSM::Update

takePenaltyShot()

bool takePenaltyShot

(

const Update &

event

)

Guard that returns true if the shooter has a good shot on goal or if it is forced to shoot due to the penalty timeout.

Requires complete approach to already be set.

Parameters

event

PenaltyKickFSM::Update

timeOutApproach()

bool timeOutApproach

(

const Update &

event

)

Returns true if we pass the timeout for completing the approach play towards the keeper.

Requires complete approach to already be set.

Parameters

event

PenaltyKickFSM::Update

updateApproachKeeper()

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

Action that updates the shooter's approach to the opposition net.

Parameters

event	PenaltyKickFSM::Update event
processEvent	processes the DribbleFSM::Update

---

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

• src/software/ai/hl/stp/tactic/penalty_kick/penalty_kick_fsm.h
• src/software/ai/hl/stp/tactic/penalty_kick/penalty_kick_fsm.cpp