Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix Code Style On fix-pivot-kick #2250

Merged
merged 1 commit into from
Apr 17, 2024
Merged

Fix Code Style On fix-pivot-kick #2250

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 2 additions & 1 deletion soccer/src/soccer/planning/planner/line_pivot_path_planner.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,8 @@ LinePivotPathPlanner::State LinePivotPathPlanner::next_state(const PlanRequest&
double vel = plan_request.world_state->get_robot(true, static_cast<int>(plan_request.shell_id))
.velocity.linear()
.mag();
if (current_state_ == LINE && (target_point.dist_to(current_point) < 0.3) && (vel < 0.3) && (!plan_request.play_state.is_stop())) {
if (current_state_ == LINE && (target_point.dist_to(current_point) < 0.3) && (vel < 0.3) &&
(!plan_request.play_state.is_stop())) {
return PIVOT;
}
if (current_state_ == PIVOT && (pivot_point.dist_to(current_point) > (dist_from_point * 5))) {
Expand Down
2 changes: 1 addition & 1 deletion soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -22,8 +22,8 @@
#include "strategy/agent/position/offense.hpp"
#include "strategy/agent/position/penalty_player.hpp"
#include "strategy/agent/position/pivot_test.hpp"
#include "strategy/agent/position/solo_offense.hpp"
#include "strategy/agent/position/position.hpp"
#include "strategy/agent/position/solo_offense.hpp"

namespace strategy {

Expand Down
17 changes: 9 additions & 8 deletions soccer/src/soccer/strategy/agent/position/solo_offense.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -60,12 +60,15 @@ SoloOffense::State SoloOffense::next_state() {
}

std::optional<RobotIntent> SoloOffense::state_to_task(RobotIntent intent) {

switch (current_state_) {
case MARKER: {
auto marker_target_pos = last_world_state_->get_robot(false, marking_id_).pose.position();
auto target = marker_target_pos + (field_dimensions_.our_goal_loc() - marker_target_pos).normalized(kRobotRadius * 5);
auto mark_cmd = planning::MotionCommand{"path_target", planning::LinearMotionInstant{target}, planning::FaceBall{}, true};
auto marker_target_pos =
last_world_state_->get_robot(false, marking_id_).pose.position();
auto target =
marker_target_pos +
(field_dimensions_.our_goal_loc() - marker_target_pos).normalized(kRobotRadius * 5);
auto mark_cmd = planning::MotionCommand{
"path_target", planning::LinearMotionInstant{target}, planning::FaceBall{}, true};
intent.motion_command = mark_cmd;

return intent;
Expand Down Expand Up @@ -93,9 +96,6 @@ std::optional<RobotIntent> SoloOffense::state_to_task(RobotIntent intent) {
return intent;
}




rj_geometry::Point SoloOffense::calculate_best_shot() const {
// Goal location
rj_geometry::Point their_goal_pos = field_dimensions_.their_goal_loc();
Expand All @@ -120,7 +120,8 @@ rj_geometry::Point SoloOffense::calculate_best_shot() const {
return best_shot;
}

double SoloOffense::distance_from_their_robots(rj_geometry::Point tail, rj_geometry::Point head) const {
double SoloOffense::distance_from_their_robots(rj_geometry::Point tail,
rj_geometry::Point head) const {
rj_geometry::Point vec = head - tail;
auto& their_robots = this->last_world_state_->their_robots;

Expand Down