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Fix Code Style On has-open-shot #2179

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Jan 29, 2024
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Fix Code Style On has-open-shot #2179

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14 changes: 7 additions & 7 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 @@ -198,17 +198,17 @@ std::optional<RobotIntent> Offense::state_to_task(RobotIntent intent) {
}

bool Offense::has_open_shot() {

// Goal location
rj_geometry::Point their_goal_pos = field_dimensions_.their_goal_loc();
double goal_width = field_dimensions_.goal_width(); // 1.0 meters
double goal_width = field_dimensions_.goal_width(); // 1.0 meters

// Ball location
rj_geometry::Point ball_position = this->last_world_state_->ball.position;

double best_distance = -1.0;
rj_geometry::Point increment(0.05, 0);
rj_geometry::Point curr_point = their_goal_pos - rj_geometry::Point(goal_width / 2.0, 0) + increment;
rj_geometry::Point curr_point =
their_goal_pos - rj_geometry::Point(goal_width / 2.0, 0) + increment;
for (int i = 0; i < 19; i++) {
double distance = distance_from_their_robots(ball_position, curr_point);
if (distance > best_distance) {
Expand All @@ -226,19 +226,19 @@ double Offense::distance_from_their_robots(rj_geometry::Point tail, rj_geometry:
double min_angle = -0.5;
for (auto enemy : their_robots) {
rj_geometry::Point enemy_vec = enemy.pose.position() - tail;
if (enemy_vec.dot(vec) < 0 ) {
if (enemy_vec.dot(vec) < 0) {
continue;
}
auto projection = (enemy_vec.dot(vec)/vec.dot(vec));
enemy_vec = enemy_vec - (projection) * vec;
auto projection = (enemy_vec.dot(vec) / vec.dot(vec));
enemy_vec = enemy_vec - (projection)*vec;
double distance = enemy_vec.mag();
if (distance < (kRobotRadius + kBallRadius)) {
return -1.0;
}
double angle = distance / projection;
if (min_angle < 0) {
min_angle = angle;
} else if(angle < min_angle) {
} else if (angle < min_angle) {
min_angle = angle;
}
}
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