Formatter

roboteam_ai/include/roboteam_ai/stp/computations/InterceptionComputations.h

@@ -86,7 +86,6 @@ class InterceptionComputations {
      * @return the point where they will have the ball
      */
     static std::optional<Vector2> calculateTheirBallInterception(const rtt::world::World *world, rtt::LineSegment ballTrajectory) noexcept;
-
 };
 }  // namespace rtt::ai::stp
 #endif  // RTT_INTERCEPTIONCOMPUTATIONS_H

roboteam_ai/include/roboteam_ai/stp/computations/PositionComputations.h

@@ -60,7 +60,7 @@ class PositionComputations {
      * @param world
      * @return The amount of wallers needed
      */
-    static void setAmountOfWallers(const rtt::Field &field, rtt::world::World *world) noexcept; 
+    static void setAmountOfWallers(const rtt::Field &field, rtt::world::World *world) noexcept;
 
     /**
      * @brief Makes a wall if not ready done, saves it in calculatedWallPositions and deals the index
@@ -159,6 +159,7 @@ class PositionComputations {
     static void calculateInfoForAvoidBallHarasser(std::unordered_map<std::string, StpInfo> &stpInfos, world::World *world) noexcept;
 
     static int amountOfWallers;
+
    private:
     /**
      * @brief Calculates a position outside of a given shape

roboteam_ai/src/stp/Play.cpp

@@ -142,7 +142,7 @@ void Play::distributeRoles() noexcept {
         auto roleName{role->getName()};
         stpInfos[roleName].setRoleName(roleName);
     }
-    Play::waller_count = std::count_if(roles.begin(), roles.end(), [](const std::unique_ptr<Role>& role) { return role && role->getName().find("waller") != std::string::npos; });
+    Play::waller_count = std::count_if(roles.begin(), roles.end(), [](const std::unique_ptr<Role> &role) { return role && role->getName().find("waller") != std::string::npos; });
 
     auto flagMap = decideRoleFlags();
 
@@ -272,9 +272,11 @@ void Play::DrawMargins() noexcept {
         else
             color = proto::Drawing::RED;
 
-    } else if (!world->getWorld()->getBall()->get()->visible) color = proto::Drawing::CYAN;
-    else color = proto::Drawing::GREY;
-
+    } else if (!world->getWorld()->getBall()->get()->visible)
+        color = proto::Drawing::CYAN;
+    else
+        color = proto::Drawing::GREY;
+
     for (auto method : {proto::Drawing::CIRCLES, proto::Drawing::LINES_CONNECTED}) {
         rtt::ai::gui::Out::draw(
             {

roboteam_ai/src/stp/computations/PositionComputations.cpp

@@ -44,18 +44,21 @@ void PositionComputations::setAmountOfWallers(const rtt::Field &field, rtt::worl
         ballPos = GameStateManager::getRefereeDesignatedPosition();
     } else {
         ballPos = FieldComputations::projectPointInField(field, world->getWorld().value().getBall()->get()->position, constants::BALL_RADIUS);
-    }    
-    
+    }
+
     if (field.rightPlayArea.contains(ballPos)) {
         PositionComputations::amountOfWallers = 2;
         return;
     }
     auto lineToBottomPost = ballPos - field.leftGoalArea.bottomRight();
     auto lineToTopPost = ballPos - field.leftGoalArea.topRight();
     auto angleBetweenLines = lineToBottomPost.toAngle().shortestAngleDiff(lineToTopPost.toAngle());
-    if (angleBetweenLines > 0.25) PositionComputations::amountOfWallers = 4;
-    else if (angleBetweenLines < 0.1) PositionComputations::amountOfWallers = 2;
-    else if (angleBetweenLines < 0.2) PositionComputations::amountOfWallers = 3;
+    if (angleBetweenLines > 0.25)
+        PositionComputations::amountOfWallers = 4;
+    else if (angleBetweenLines < 0.1)
+        PositionComputations::amountOfWallers = 2;
+    else if (angleBetweenLines < 0.2)
+        PositionComputations::amountOfWallers = 3;
 }
 
 Vector2 PositionComputations::getWallPosition(int index, int amountDefenders, const rtt::Field &field, rtt::world::World *world) {
@@ -88,7 +91,8 @@ std::vector<Vector2> PositionComputations::determineWallPositions(const rtt::Fie
     } else if (field.leftDefenseArea.contains(ballPos)) {
         // If the ball is in our defense area, project it out of it
         ballPos = FieldComputations::projectPointOutOfDefenseArea(field, ballPos, true, false);
-    } else if ((world->getWorld().value().getBall()->get()->velocity).length() > constants::BALL_GOT_SHOT_LIMIT && InterceptionComputations::calculateTheirBallInterception(world, ballTrajectory).has_value()){
+    } else if ((world->getWorld().value().getBall()->get()->velocity).length() > constants::BALL_GOT_SHOT_LIMIT &&
+               InterceptionComputations::calculateTheirBallInterception(world, ballTrajectory).has_value()) {
         ballPos = *InterceptionComputations::calculateTheirBallInterception(world, ballTrajectory);
     } else {
         // Project the ball into the field and use that location
@@ -103,7 +107,8 @@ std::vector<Vector2> PositionComputations::determineWallPositions(const rtt::Fie
 
     // Find the intersection of the ball-to-goal line with the border of the defense area
     LineSegment ball2GoalLine = LineSegment(ballPos, field.leftGoalArea.rightLine().center());
-    std::vector<Vector2> lineBorderIntersects = FieldComputations::getDefenseArea(field, true, std::get<1>(FieldComputations::getDefenseAreaMargin()), 0).intersections(ball2GoalLine);
+    std::vector<Vector2> lineBorderIntersects =
+        FieldComputations::getDefenseArea(field, true, std::get<1>(FieldComputations::getDefenseAreaMargin()), 0).intersections(ball2GoalLine);
     // If the ball is in our defense area, project it outside, otherwise use the intersection with our defense area
     std::sort(lineBorderIntersects.begin(), lineBorderIntersects.end(), [](Vector2 a, Vector2 b) { return a.x > b.x; });
     projectedPosition = lineBorderIntersects.front() + extraLength;
@@ -301,8 +306,7 @@ void PositionComputations::calculateInfoForHarasser(std::unordered_map<std::stri
         if (harasser != roles->end() && !harasser->get()->finished() && strcmp(harasser->get()->getCurrentTactic()->getName(), "Formation") == 0) {
             auto enemyPos = enemyClosestToBall->get()->getPos();
             auto targetPos = enemyPos + (world->getWorld()->getBall()->get()->position - enemyPos).stretchToLength(constants::ROBOT_RADIUS * 3);
-            if (enemyClosestToBall->get()->hasBall() &&
-                ((stpInfos["harasser"].getRobot()->get()->getPos() - targetPos).length() > 1.5 * constants::GO_TO_POS_ERROR_MARGIN)) {
+            if (enemyClosestToBall->get()->hasBall() && ((stpInfos["harasser"].getRobot()->get()->getPos() - targetPos).length() > 1.5 * constants::GO_TO_POS_ERROR_MARGIN)) {
                 stpInfos["harasser"].setPositionToMoveTo(targetPos);
                 stpInfos["harasser"].setYaw((world->getWorld()->getBall()->get()->position - targetPos).angle());
             } else {

roboteam_ai/src/stp/evaluations/global/WeWillHaveBallGlobalEvaluation.cpp

@@ -14,7 +14,9 @@ uint8_t WeWillHaveBallGlobalEvaluation::metricCheck(const world::World* world, c
     // If we have no bots, we will not get the ball
     if (us.empty()) return constants::FUZZY_FALSE;
 
-    if (world->getWorld()->getRobotClosestToBall(world::them)->get()->getPos().dist(ballPosition) < constants::ROBOT_RADIUS * 1.3 && world->getWorld()->getRobotClosestToBall(world::us)->get()->getPos().dist(ballPosition) < constants::ROBOT_RADIUS * 1.3) return false;
+    if (world->getWorld()->getRobotClosestToBall(world::them)->get()->getPos().dist(ballPosition) < constants::ROBOT_RADIUS * 1.3 &&
+        world->getWorld()->getRobotClosestToBall(world::us)->get()->getPos().dist(ballPosition) < constants::ROBOT_RADIUS * 1.3)
+        return false;
 
     // If any of our robots has the ball, we will get the ball
     if (std::any_of(us.begin(), us.end(), [](auto& robot) { return robot->hasBall(); })) return constants::FUZZY_TRUE;

roboteam_ai/src/stp/plays/defensive/Defend.cpp

@@ -52,9 +52,10 @@ Dealer::FlagMap Defend::decideRoleFlags() const noexcept {
     flagMap.insert({"keeper", {DealerFlagPriority::KEEPER, {keeperFlag}}});
     flagMap.insert({"harasser", {DealerFlagPriority::REQUIRED, {}, harasserInfo.interceptId}});
     for (int i = 0; i < Play::waller_count; i++) {
-        if (i <= PositionComputations::amountOfWallers)  {
+        if (i <= PositionComputations::amountOfWallers) {
             flagMap.insert({"waller_" + std::to_string(i), {DealerFlagPriority::HIGH_PRIORITY}});
-        } else flagMap.insert({"waller_" + std::to_string(i), {DealerFlagPriority::MEDIUM_PRIORITY}});
+        } else
+            flagMap.insert({"waller_" + std::to_string(i), {DealerFlagPriority::MEDIUM_PRIORITY}});
     }
     flagMap.insert({"defender_0", {DealerFlagPriority::MEDIUM_PRIORITY, {}}});
     flagMap.insert({"defender_1", {DealerFlagPriority::MEDIUM_PRIORITY, {}}});

roboteam_ai/src/stp/plays/referee_specific/BallPlacementThem.cpp

@@ -45,9 +45,10 @@ Dealer::FlagMap BallPlacementThem::decideRoleFlags() const noexcept {
     flagMap.insert({"keeper", {DealerFlagPriority::KEEPER, {keeperFlag}}});
     flagMap.insert({"harasser", {DealerFlagPriority::REQUIRED, {}}});
     for (int i = 0; i < Play::waller_count; i++) {
-        if (i <= PositionComputations::amountOfWallers)  {
+        if (i <= PositionComputations::amountOfWallers) {
             flagMap.insert({"waller_" + std::to_string(i), {DealerFlagPriority::HIGH_PRIORITY}});
-        } else flagMap.insert({"waller_" + std::to_string(i), {DealerFlagPriority::MEDIUM_PRIORITY}});
+        } else
+            flagMap.insert({"waller_" + std::to_string(i), {DealerFlagPriority::MEDIUM_PRIORITY}});
     }
     flagMap.insert({"defender_0", {DealerFlagPriority::MEDIUM_PRIORITY, {}}});
     flagMap.insert({"defender_1", {DealerFlagPriority::MEDIUM_PRIORITY, {}}});

roboteam_ai/src/stp/plays/referee_specific/FreeKickThem.cpp

@@ -48,9 +48,10 @@ Dealer::FlagMap FreeKickThem::decideRoleFlags() const noexcept {
     flagMap.insert({"keeper", {DealerFlagPriority::KEEPER, {keeperFlag}}});
     flagMap.insert({"harasser", {DealerFlagPriority::REQUIRED, {}}});
     for (int i = 0; i < Play::waller_count; i++) {
-        if (i <= PositionComputations::amountOfWallers)  {
+        if (i <= PositionComputations::amountOfWallers) {
             flagMap.insert({"waller_" + std::to_string(i), {DealerFlagPriority::HIGH_PRIORITY}});
-        } else flagMap.insert({"waller_" + std::to_string(i), {DealerFlagPriority::MEDIUM_PRIORITY}});
+        } else
+            flagMap.insert({"waller_" + std::to_string(i), {DealerFlagPriority::MEDIUM_PRIORITY}});
     }
     flagMap.insert({"defender_0", {DealerFlagPriority::MEDIUM_PRIORITY, {}}});
     flagMap.insert({"defender_1", {DealerFlagPriority::MEDIUM_PRIORITY, {}}});

roboteam_ai/src/stp/plays/referee_specific/PrepareForcedStart.cpp

@@ -48,9 +48,10 @@ Dealer::FlagMap PrepareForcedStart::decideRoleFlags() const noexcept {
     flagMap.insert({"keeper", {DealerFlagPriority::KEEPER, {keeperFlag}}});
     flagMap.insert({"harasser", {DealerFlagPriority::REQUIRED, {}}});
     for (int i = 0; i < Play::waller_count; i++) {
-        if (i <= PositionComputations::amountOfWallers)  {
+        if (i <= PositionComputations::amountOfWallers) {
             flagMap.insert({"waller_" + std::to_string(i), {DealerFlagPriority::HIGH_PRIORITY}});
-        } else flagMap.insert({"waller_" + std::to_string(i), {DealerFlagPriority::MEDIUM_PRIORITY}});
+        } else
+            flagMap.insert({"waller_" + std::to_string(i), {DealerFlagPriority::MEDIUM_PRIORITY}});
     }
     flagMap.insert({"defender_0", {DealerFlagPriority::MEDIUM_PRIORITY, {}}});
     flagMap.insert({"defender_1", {DealerFlagPriority::MEDIUM_PRIORITY, {}}});

roboteam_ai/src/stp/plays/referee_specific/StopFormation.cpp

@@ -46,9 +46,10 @@ Dealer::FlagMap StopFormation::decideRoleFlags() const noexcept {
     flagMap.insert({"keeper", {DealerFlagPriority::KEEPER, {keeperFlag}}});
     flagMap.insert({"harasser", {DealerFlagPriority::REQUIRED, {}}});
     for (int i = 0; i < Play::waller_count; i++) {
-        if (i <= PositionComputations::amountOfWallers)  {
+        if (i <= PositionComputations::amountOfWallers) {
             flagMap.insert({"waller_" + std::to_string(i), {DealerFlagPriority::HIGH_PRIORITY}});
-        } else flagMap.insert({"waller_" + std::to_string(i), {DealerFlagPriority::MEDIUM_PRIORITY}});
+        } else
+            flagMap.insert({"waller_" + std::to_string(i), {DealerFlagPriority::MEDIUM_PRIORITY}});
     }
     flagMap.insert({"defender_0", {DealerFlagPriority::MEDIUM_PRIORITY, {}}});
     flagMap.insert({"defender_1", {DealerFlagPriority::MEDIUM_PRIORITY, {}}});