ReceiverFSM Struct Reference

Collaboration diagram for ReceiverFSM:

Classes
struct	ControlParams

Public Member Functions
	ReceiverFSM (TbotsProto::ReceiverTacticConfig receiver_tactic_config)
std::optional< Shot >	findFeasibleShot (const World &world, const Robot &assigned_robot)
bool	onetouchPossible (const Update &event)
void	updateOnetouch (const Update &event)
void	updateReceive (const Update &event)
void	adjustReceive (const Update &event)
bool	passStarted (const Update &event)
bool	passFinished (const Update &event)
bool	strayPass (const Update &event)
auto	operator() ()

Static Public Member Functions
static Angle	getOneTouchShotDirection (const Ray &shot, const Ball &ball)
static Shot	getOneTouchShotPositionAndOrientation (const Robot &robot, const Ball &ball, const Point &best_shot_target)

Static Public Attributes
static DEFINE_TACTIC_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS constexpr double	MIN_PASS_START_SPEED_M_PER_SEC = 0.02
static constexpr double	BALL_MIN_MOVEMENT_SPEED_M_PER_SEC = 0.04
static constexpr Angle	MIN_STRAY_PASS_ANGLE = Angle::fromDegrees(60)
static constexpr double	MIN_STRAY_PASS_SPEED = 0.3

Constructor & Destructor Documentation

ReceiverFSM()

ReceiverFSM ( TbotsProto::ReceiverTacticConfig  receiver_tactic_config )

inlineexplicit

Constructor for ReceiverFSM

Parameters

receiver_tactic_config

The config to fetch parameters from

Member Function Documentation

adjustReceive()

void adjustReceive

(

const Update &

event

)

Constantly adjust the receives position to be directly infront of the ball for better reception. This is especially useful for long passes where the ball might not end up exactly at the pass.receiverPoint()

Parameters

event

ReceiverFSM::Update event

getOneTouchShotDirection()

Angle getOneTouchShotDirection ( const Ray &  shot, const Ball &  ball  )

static

Given a shot and the ball, figures out the angle the robot should be facing to perform a one-touch shot.

Parameters

shot	The shot to take
ball	The ball on the field

getOneTouchShotPositionAndOrientation()

Shot getOneTouchShotPositionAndOrientation ( const Robot &  robot, const Ball &  ball, const Point &  best_shot_target  )

static

Figures out the location of the one-touch shot and orientation the robot should face

Parameters

robot	The robot performing the one-touch
ball	The ball on the field
best_shot_target	The point to shoot at

onetouchPossible()

bool onetouchPossible

(

const Update &

event

)

Checks if a one touch shot is possible

Parameters

event

ReceiverFSM::Update event

Returns

true if one-touch possible

passFinished()

bool passFinished

(

const Update &

event

)

Check if the pass has finished by checking if we the robot has a ball near its dribbler.

Parameters

event

ReceiverFSM::Update event

Returns

true if the ball is near a robots mouth

passStarted()

bool passStarted

(

const Update &

event

)

Guard that checks if the ball has been kicked

Parameters

event

PivotKickFSM::Update event

Returns

if the ball has been kicked

strayPass()

bool strayPass

(

const Update &

event

)

If the pass is in progress and is deviating more than MIN_STRAY_PASS_ANGLE, return true so that the receiver can react and intercept the ball.

Parameters

event

ReceiverFSM::Update event

Returns

true if stray pass

updateOnetouch()

void updateOnetouch

(

const Update &

event

)

If we have a shot on net, then update the receiver fsm to setup for a one-touch shot.

NOTE: This must be used with the onetouch_possible guard, which checks for one-touch feasibility.

Parameters

event

ReceiverFSM::Update event

updateReceive()

void updateReceive

(

const Update &

event

)

One-touch shot is not possible, just receive ball as cleanly as possible.

Parameters

event

ReceiverFSM::Update event

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

• src/software/ai/hl/stp/tactic/receiver/receiver_fsm.h
• src/software/ai/hl/stp/tactic/receiver/receiver_fsm.cpp