Waller Clear version 2

soccer/src/soccer/strategy/agent/position/defense.cpp

@@ -36,15 +36,17 @@ Defense::State Defense::update_state() {
     }
 
     switch (current_state_) {
-        case IDLING:{
-            break;}
-        case JOINING_WALL:{
+        case IDLING: {
+            break;
+            }
+        case JOINING_WALL: {
             send_join_wall_request();
             // SPDLOG_INFO("join wall {}", robot_id_);
             next_state = WALLING;
             walling_robots_ = {(u_int8_t)robot_id_};
-            break;}
-        case WALLING:{
+            break;
+            }
+        case WALLING: {
             // If a wall is already full,
             // Remove the robot with the highest ID from a wall
             // and make them a marker instead.
@@ -59,42 +61,48 @@ Defense::State Defense::update_state() {
                 send_leave_wall_request();
                 next_state = STEALING;
             }
-            break;}
-        case SEARCHING:{
-            break;}
-        case RECEIVING:{
+            break;
+            }
+        case SEARCHING: {
+            break;
+            }
+        case RECEIVING: {
             // transition to idling if we are close enough to the ball
             if (distance_to_ball < ball_receive_distance_) {
                 next_state = IDLING;
             }
-            break;}
-        case PASSING:{
+            break;
+            }
+        case PASSING: {
             // transition to idling if we no longer have the ball (i.e. it was passed or it was
             // stolen)
             if (check_is_done() || distance_to_ball > ball_lost_distance_) {
                 next_state = JOINING_WALL;
             }
-            break;}
-        case FACING:{
+            break;
+            }
+        case FACING: {
             if (check_is_done()) {
                 next_state = IDLING;
-            }}
-        case MARKING:{
+            }
+            }
+        case MARKING: {
             if (marker_.get_target() == -1 || marker_.target_out_of_bounds(world_state)) {
                 next_state = ENTERING_MARKING;
             }
-            break;}
-        case ENTERING_MARKING:{
+            break;
+            }
+        case ENTERING_MARKING: {
             marker_.choose_target(world_state);
             int target_id = marker_.get_target();
             if (target_id == -1) {
                 next_state = ENTERING_MARKING;
             } else {
                 next_state = MARKING;
             }
-            break;}
-        case STEALING: // wall steal
-        {
+            break;
+            }
+        case STEALING: {// wall steal
             // Go to passing if successful
             if (check_is_done()) {
                 send_leave_wall_request();
@@ -199,10 +207,6 @@ std::optional<RobotIntent> Defense::state_to_task(RobotIntent intent) {
         planning::LinearMotionInstant target{clear_point_};
         auto line_kick_cmd = planning::MotionCommand{"line_kick", target};
         intent.motion_command = line_kick_cmd;
-
-        // note: the way this is set up makes it impossible to
-        // shoot on time without breakbeam
-        // TODO(Kevin): make intent hold a manip msg instead? to be cleaner?
         intent.shoot_mode = RobotIntent::ShootMode::CHIP;
         intent.trigger_mode = RobotIntent::TriggerMode::ON_BREAK_BEAM;
         intent.kick_speed = 4.0;

soccer/src/soccer/strategy/agent/position/offense.cpp

@@ -521,48 +521,6 @@ double Offense::distance_from_their_robots(rj_geometry::Point tail, rj_geometry:
     return min_angle;
 }
 
-// bool Offense::can_steal_ball() const {
-//     // Ball in red zone or not
-//     if (ball_in_red()) {
-//         return false;
-//     }
-//     // Ball location
-//     rj_geometry::Point ball_position = this->last_world_state_->ball.position;
-
-//     // Our robot is closest robot to ball
-//     bool closest = true;
-
-//     auto current_pos = last_world_state_->get_robot(true, robot_id_).pose.position();
-
-//     auto our_dist = (current_pos - ball_position).mag();
-//     for (auto enemy : this->last_world_state_->their_robots) {
-//         auto dist = (enemy.pose.position() - ball_position).mag();
-//         if (dist < our_dist) {
-//             closest = false;
-//             break;
-//         }
-//     }
-
-//     if (!closest) {
-//         return closest;
-//     }
-
-//     for (auto pal : this->last_world_state_->our_robots) {
-//         // if (pal.robot_id_ == robot_id_) {
-//         // continue;
-//         // }
-//         auto dist = (pal.pose.position() - ball_position).mag();
-//         if (dist < our_dist) {
-//             closest = false;
-//             break;
-//         }
-//     }
-
-//     return closest;
-
-//     // return distance_to_ball() < kStealBallRadius;
-// }
-
 rj_geometry::Point Offense::calculate_best_shot() const {
     // Goal location
     rj_geometry::Point their_goal_pos = field_dimensions_.their_goal_loc();
@@ -587,13 +545,6 @@ rj_geometry::Point Offense::calculate_best_shot() const {
     return best_shot;
 }
 
-// // Checks whether ball is out of range for stealing/receiving
-// bool Offense::ball_in_red() const {
-//     auto& ball_pos = last_world_state_->ball.position;
-//     return (field_dimensions_.our_defense_area().contains_point(ball_pos) ||
-//             field_dimensions_.their_defense_area().contains_point(ball_pos) ||
-//             !field_dimensions_.field_rect().contains_point(ball_pos));
-// }
 void Offense::broadcast_seeker_request(rj_geometry::Point seeking_point, bool adding) {
     communication::SeekerRequest seeker_request{};
     communication::generate_uid(seeker_request);

soccer/src/soccer/strategy/agent/position/waller.cpp

@@ -28,7 +28,6 @@ std::optional<RobotIntent> Waller::get_task(RobotIntent intent, const WorldState
     auto num_wallers = walling_robots_.size();
 
 
-
     // Find ball_direction unit vector
     rj_geometry::Point ball_dir_vector{(ball_pos - goal_pos)};