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Fix Code Style On james-vogt/variable-kick #2156

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merged 1 commit into from
Jan 22, 2024
Merged

Fix Code Style On james-vogt/variable-kick #2156

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11 changes: 5 additions & 6 deletions soccer/src/soccer/strategy/agent/position/offense.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,7 +83,7 @@ Offense::State Offense::update_state() {
}

std::optional<RobotIntent> Offense::state_to_task(RobotIntent intent) {
float dist {0.0f};
float dist{0.0f};
if (current_state_ == IDLING) {
// Do nothing
auto empty_motion_cmd = planning::MotionCommand{};
Expand All @@ -106,12 +106,11 @@ std::optional<RobotIntent> Offense::state_to_task(RobotIntent intent) {
intent.shoot_mode = RobotIntent::ShootMode::KICK;
// NOTE: Check we can actually use break beams
intent.trigger_mode = RobotIntent::TriggerMode::ON_BREAK_BEAM;
//Adjusts kick speed based on distance. Refer to
//TIGERS Mannheim eTDP from 2019 for details
//See also passer.py in rj_gameplay
// Adjusts kick speed based on distance. Refer to
// TIGERS Mannheim eTDP from 2019 for details
// See also passer.py in rj_gameplay
dist = target_robot_pos.dist_to(this_robot_pos);
intent.kick_speed = std::sqrt((std::pow(FINAL_BALL_SPEED, 2)) -
(2 * BALL_DECEL * dist));
intent.kick_speed = std::sqrt((std::pow(FINAL_BALL_SPEED, 2)) - (2 * BALL_DECEL * dist));
intent.is_active = true;
return intent;
} else if (current_state_ == PREPARING_SHOT) {
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5 changes: 2 additions & 3 deletions soccer/src/soccer/strategy/agent/position/offense.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,9 +36,8 @@ class Offense : public Position {
private:
bool kicking_{true};

static constexpr float FINAL_BALL_SPEED {0.0f};
static constexpr float BALL_DECEL {-0.4f};

static constexpr float FINAL_BALL_SPEED{0.0f};
static constexpr float BALL_DECEL{-0.4f};

std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;
// TODO (Kevin): strategy design pattern for BallHandler/Receiver
Expand Down