transition_conditions.h

#pragma once
 
#include "software/world/world.h"
 
// Transition conditions are conditions to check before transitioning between different
// gameplay behaviour
 
bool robotReachedDestination(const Robot& robot, const Point& destination,
                             const Angle& final_orientation,
                             double DISTANCE_THRESHOLD    = 0.05,
                             const Angle& ANGLE_THRESHOLD = Angle::fromDegrees(2));
 
bool robotStopped(const Robot& robot, double SPEED_THRESHOLD = 0.05);
 
bool comparePoints(const Point& pt1, const Point& pt2, double DISTANCE_THRESHOLD = 0.02);
 
bool compareAngles(const Angle& angle1, const Angle& angle2,
                   const Angle& ANGLE_THRESHOLD = Angle::fromDegrees(2));
 
bool isRobotReadyToChick(const Robot& robot, const Point& ball_position,
                         const Angle& chick_direction,
                         const Angle& ANGLE_THRESHOLD = Angle::fromDegrees(5));