ShadowEnemyFSM Struct Reference

Classes
struct	ControlParams

Public Member Functions
bool	enemyThreatHasBall (const Update &event)
void	blockPass (const Update &event)
void	blockShot (const Update &event, boost::sml::back::process< MoveFSM::Update > processEvent)
void	stealAndChip (const Update &event)
auto	operator() ()

Static Public Member Functions
static Point	findBlockPassPoint (const Point &ball_position, const Robot &shadowee, const double &shadow_distance)
static Point	findBlockShotPoint (const Robot &robot, const Field &field, const Team &friendlyTeam, const Team &enemyTeam, const Robot &shadowee, const double &shadow_distance)

Static Public Attributes
static DEFINE_TACTIC_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS constexpr double	YEET_CHIP_DISTANCE_METERS = 2.0

Member Function Documentation

blockPass()

void blockPass

(

const Update &

event

)

Action to block the pass to our shadowee

Parameters

event

ShadowEnemyFSM::Update

blockShot()

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

Action to block the shot from our shadowee

Parameters

event

ShadowEnemyFSM::Update

enemyThreatHasBall()

bool enemyThreatHasBall

(

const Update &

event

)

Guard that checks if the enemy threat has ball

Parameters

event

ShadowEnemyFSM::Update

Returns

if the ball has been have_possession

findBlockPassPoint()

Point findBlockPassPoint ( const Point &  ball_position, const Robot &  shadowee, const double &  shadow_distance  )

static

Calculates the point to block the pass to the robot we are shadowing

Parameters

ball_position	The position of the ball
shadowee	The enemy robot we are shadowing
shadow_distance	The distance our friendly robot will position itself away from the shadowee

findBlockShotPoint()

Point findBlockShotPoint ( const Robot &  robot, const Field &  field, const Team &  friendlyTeam, const Team &  enemyTeam, const Robot &  shadowee, const double &  shadow_distance  )

static

Calculates the point to block the shot from the robot we are shadowing

Parameters

robot	The robot that is shadowing
field	The field to shadow on
friendlyTeam	The friendly team
enemyTeam	The enemy team
shadowee	The enemy robot we are shadowing
shadow_distance	The distance our friendly robot will position itself away from the shadowee

stealAndChip()

void stealAndChip

(

const Update &

event

)

Action to steal and chip the ball

Steal the ball if enemy threat is close enough and chip the ball away

Parameters

event

ShadowEnemyFSM::Update

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

• src/software/ai/hl/stp/tactic/shadow_enemy/shadow_enemy_fsm.h
• src/software/ai/hl/stp/tactic/shadow_enemy/shadow_enemy_fsm.cpp