From ff93bf5b4dc2b8c9f48a474101e713c2ad158568 Mon Sep 17 00:00:00 2001
From: Will Deinzer <willdeinzer@gmail.com>
Date: Sun, 24 Sep 2023 19:27:20 -0400
Subject: [PATCH 1/8] double wall spacing

---
 soccer/src/soccer/strategy/agent/position/waller.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/soccer/src/soccer/strategy/agent/position/waller.cpp b/soccer/src/soccer/strategy/agent/position/waller.cpp
index 6919cdb7eb6..4e1c27bbd08 100644
--- a/soccer/src/soccer/strategy/agent/position/waller.cpp
+++ b/soccer/src/soccer/strategy/agent/position/waller.cpp
@@ -33,7 +33,7 @@ std::optional<RobotIntent> Waller::get_task(RobotIntent intent, const WorldState
     rj_geometry::Point mid_point{(goal_center_point) + (ball_dir_vector * min_wall_rad)};
 
     // Calculate the wall spacing
-    auto wall_spacing = robot_diameter_multiplier_ * kRobotDiameter + kBallRadius;
+    auto wall_spacing = (robot_diameter_multiplier_ * kRobotDiameter + kBallRadius) * 2;
 
     // Calculate the target point
     rj_geometry::Point target_point{};

From d7e76460ab242e66d3d858a526fa0489093ae138 Mon Sep 17 00:00:00 2001
From: Will Deinzer <willdeinzer@gmail.com>
Date: Tue, 20 Feb 2024 19:20:51 -0500
Subject: [PATCH 2/8] Added position monitoring framework

---
 rj_msgs/msg/AgentState.msg                                    | 1 +
 soccer/src/soccer/strategy/agent/position/defense.cpp         | 4 ++++
 soccer/src/soccer/strategy/agent/position/defense.hpp         | 2 ++
 soccer/src/soccer/strategy/agent/position/goal_kicker.cpp     | 4 ++++
 soccer/src/soccer/strategy/agent/position/goal_kicker.hpp     | 2 ++
 soccer/src/soccer/strategy/agent/position/goalie.cpp          | 4 ++++
 soccer/src/soccer/strategy/agent/position/goalie.hpp          | 2 ++
 soccer/src/soccer/strategy/agent/position/offense.cpp         | 4 ++++
 soccer/src/soccer/strategy/agent/position/offense.hpp         | 2 ++
 soccer/src/soccer/strategy/agent/position/penalty_player.cpp  | 4 ++++
 soccer/src/soccer/strategy/agent/position/penalty_player.hpp  | 2 ++
 soccer/src/soccer/strategy/agent/position/position.hpp        | 3 +++
 .../soccer/strategy/agent/position/robot_factory_position.cpp | 2 ++
 .../soccer/strategy/agent/position/robot_factory_position.hpp | 2 ++
 14 files changed, 38 insertions(+)

diff --git a/rj_msgs/msg/AgentState.msg b/rj_msgs/msg/AgentState.msg
index e69de29bb2d..04355828888 100644
--- a/rj_msgs/msg/AgentState.msg
+++ b/rj_msgs/msg/AgentState.msg
@@ -0,0 +1 @@
+string state
\ No newline at end of file
diff --git a/soccer/src/soccer/strategy/agent/position/defense.cpp b/soccer/src/soccer/strategy/agent/position/defense.cpp
index 78b0ebfb528..32e46a340cc 100644
--- a/soccer/src/soccer/strategy/agent/position/defense.cpp
+++ b/soccer/src/soccer/strategy/agent/position/defense.cpp
@@ -9,6 +9,10 @@ std::optional<RobotIntent> Defense::derived_get_task(RobotIntent intent) {
     return state_to_task(intent);
 }
 
+string Defense::return_current_state() {
+    return "Defense" + static_cast<int>(current_state_);
+}
+
 Defense::State Defense::update_state() {
     State next_state = current_state_;
     // handle transitions between states
diff --git a/soccer/src/soccer/strategy/agent/position/defense.hpp b/soccer/src/soccer/strategy/agent/position/defense.hpp
index f66ae8c975b..06a4d284c77 100644
--- a/soccer/src/soccer/strategy/agent/position/defense.hpp
+++ b/soccer/src/soccer/strategy/agent/position/defense.hpp
@@ -35,6 +35,8 @@ class Defense : public Position {
     void derived_acknowledge_pass() override;
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
+    string return_current_state() override;
+
 
     void die() override;
     void revive() override;
diff --git a/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp b/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp
index ead8901107b..495a3596aac 100644
--- a/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp
+++ b/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp
@@ -28,6 +28,10 @@ std::optional<RobotIntent> GoalKicker::derived_get_task(RobotIntent intent) {
     return intent;
 }
 
+string GoalKicker::return_current_state() {
+    return "GoalKicker";
+}
+
 void GoalKicker::derived_acknowledge_pass() {}
 
 void GoalKicker::derived_pass_ball() {}
diff --git a/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp b/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp
index 7397b9293c5..007b92c4232 100644
--- a/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp
+++ b/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp
@@ -32,6 +32,8 @@ class GoalKicker : public Position {
      */
     void derived_acknowledge_ball_in_transit() override;
 
+    string return_current_state() override;
+
 private:
     std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;
 };
diff --git a/soccer/src/soccer/strategy/agent/position/goalie.cpp b/soccer/src/soccer/strategy/agent/position/goalie.cpp
index e91952eac3e..9641b69c7df 100644
--- a/soccer/src/soccer/strategy/agent/position/goalie.cpp
+++ b/soccer/src/soccer/strategy/agent/position/goalie.cpp
@@ -11,6 +11,10 @@ std::optional<RobotIntent> Goalie::derived_get_task(RobotIntent intent) {
     return state_to_task(intent);
 }
 
+string Goalie::return_current_state() {
+    return "Goalie";
+}
+
 Goalie::State Goalie::update_state() {
     // if a shot is coming, override all and go block it
     WorldState* world_state = last_world_state_;
diff --git a/soccer/src/soccer/strategy/agent/position/goalie.hpp b/soccer/src/soccer/strategy/agent/position/goalie.hpp
index 4ca34ef8737..875b5cad3b0 100644
--- a/soccer/src/soccer/strategy/agent/position/goalie.hpp
+++ b/soccer/src/soccer/strategy/agent/position/goalie.hpp
@@ -28,6 +28,8 @@ class Goalie : public Position {
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
 
+    string return_current_state() override;
+
 private:
     // point goalie will aim for when clearing balls
     const rj_geometry::Point clear_point_{0.0, 4.5};
diff --git a/soccer/src/soccer/strategy/agent/position/offense.cpp b/soccer/src/soccer/strategy/agent/position/offense.cpp
index 3c1a6ef680c..463cb1ec172 100644
--- a/soccer/src/soccer/strategy/agent/position/offense.cpp
+++ b/soccer/src/soccer/strategy/agent/position/offense.cpp
@@ -14,6 +14,10 @@ std::optional<RobotIntent> Offense::derived_get_task(RobotIntent intent) {
     return state_to_task(intent);
 }
 
+string Offense::return_current_state() {
+    return "Offense" + static_cast<int>(current_state_);
+}
+
 Offense::State Offense::update_state() {
     State next_state = current_state_;
     // handle transitions between current state
diff --git a/soccer/src/soccer/strategy/agent/position/offense.hpp b/soccer/src/soccer/strategy/agent/position/offense.hpp
index 705890dc482..e0926257975 100644
--- a/soccer/src/soccer/strategy/agent/position/offense.hpp
+++ b/soccer/src/soccer/strategy/agent/position/offense.hpp
@@ -36,6 +36,8 @@ class Offense : public Position {
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
 
+    string return_current_state() override;
+
 private:
     bool kicking_{true};
 
diff --git a/soccer/src/soccer/strategy/agent/position/penalty_player.cpp b/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
index 53a2e61a8e8..aa088ab78a4 100644
--- a/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
+++ b/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
@@ -31,6 +31,10 @@ std::optional<RobotIntent> PenaltyPlayer::derived_get_task(RobotIntent intent) {
     return intent;
 }
 
+string PenaltyPlayer::return_current_state() {
+    return "PenaltyPlayer";
+}
+
 void PenaltyPlayer::derived_acknowledge_pass() {}
 
 void PenaltyPlayer::derived_pass_ball() {}
diff --git a/soccer/src/soccer/strategy/agent/position/penalty_player.hpp b/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
index ea52e65e477..7a3c30c7ea2 100644
--- a/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
+++ b/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
@@ -32,6 +32,8 @@ class PenaltyPlayer : public Position {
      */
     void derived_acknowledge_ball_in_transit() override;
 
+    void return_current_state() override;
+
 private:
     std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;
 };
diff --git a/soccer/src/soccer/strategy/agent/position/position.hpp b/soccer/src/soccer/strategy/agent/position/position.hpp
index 308293d6175..3e8314d3ef0 100644
--- a/soccer/src/soccer/strategy/agent/position/position.hpp
+++ b/soccer/src/soccer/strategy/agent/position/position.hpp
@@ -75,6 +75,9 @@ class Position {
     void update_alive_robots(std::vector<u_int8_t> alive_robots);
     const std::string get_name();
 
+    //returns the current state of the robot
+    virtual string return_current_state();
+
     /**
      * @brief setter for time_left_
      */
diff --git a/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp b/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
index 8f87db3f764..cc607f30fc4 100644
--- a/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
+++ b/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
@@ -120,4 +120,6 @@ void RobotFactoryPosition::die() { current_position_->die(); }
 
 void RobotFactoryPosition::revive() { current_position_->revive(); }
 
+string RobotFactoryPosition::return_current_state() { current_position_->return_current_state(); }
+
 }  // namespace strategy
diff --git a/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp b/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
index f5a6aefa827..e9736b2b697 100644
--- a/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
+++ b/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
@@ -54,6 +54,8 @@ class RobotFactoryPosition : public Position {
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
 
+    string return_current_state() override;
+
     void set_is_done() override;
     void die() override;
     void revive() override;

From 454af6a617afd86c74d34a469f5c832b1a5e3dac Mon Sep 17 00:00:00 2001
From: Will Deinzer <willdeinzer@gmail.com>
Date: Tue, 20 Feb 2024 19:26:50 -0500
Subject: [PATCH 3/8] Removed wall spacing doubling from tutorial

---
 soccer/src/soccer/strategy/agent/position/waller.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/soccer/src/soccer/strategy/agent/position/waller.cpp b/soccer/src/soccer/strategy/agent/position/waller.cpp
index 4e1c27bbd08..6919cdb7eb6 100644
--- a/soccer/src/soccer/strategy/agent/position/waller.cpp
+++ b/soccer/src/soccer/strategy/agent/position/waller.cpp
@@ -33,7 +33,7 @@ std::optional<RobotIntent> Waller::get_task(RobotIntent intent, const WorldState
     rj_geometry::Point mid_point{(goal_center_point) + (ball_dir_vector * min_wall_rad)};
 
     // Calculate the wall spacing
-    auto wall_spacing = (robot_diameter_multiplier_ * kRobotDiameter + kBallRadius) * 2;
+    auto wall_spacing = robot_diameter_multiplier_ * kRobotDiameter + kBallRadius;
 
     // Calculate the target point
     rj_geometry::Point target_point{};

From 7a0070779d49e65d7bd879a81c45cdf171542e3f Mon Sep 17 00:00:00 2001
From: Will Deinzer <willdeinzer@gmail.com>
Date: Tue, 20 Feb 2024 20:57:38 -0500
Subject: [PATCH 4/8] Fixed strings and compiler errors

---
 soccer/src/soccer/strategy/agent/position/defense.cpp          | 3 ++-
 soccer/src/soccer/strategy/agent/position/defense.hpp          | 3 ++-
 soccer/src/soccer/strategy/agent/position/goal_kicker.cpp      | 2 +-
 soccer/src/soccer/strategy/agent/position/goal_kicker.hpp      | 3 ++-
 soccer/src/soccer/strategy/agent/position/goalie.cpp           | 2 +-
 soccer/src/soccer/strategy/agent/position/goalie.hpp           | 3 ++-
 soccer/src/soccer/strategy/agent/position/offense.cpp          | 2 +-
 soccer/src/soccer/strategy/agent/position/offense.hpp          | 3 ++-
 soccer/src/soccer/strategy/agent/position/penalty_player.cpp   | 2 +-
 soccer/src/soccer/strategy/agent/position/penalty_player.hpp   | 3 ++-
 soccer/src/soccer/strategy/agent/position/position.cpp         | 2 ++
 soccer/src/soccer/strategy/agent/position/position.hpp         | 3 ++-
 .../soccer/strategy/agent/position/robot_factory_position.cpp  | 2 +-
 .../soccer/strategy/agent/position/robot_factory_position.hpp  | 3 ++-
 14 files changed, 23 insertions(+), 13 deletions(-)

diff --git a/soccer/src/soccer/strategy/agent/position/defense.cpp b/soccer/src/soccer/strategy/agent/position/defense.cpp
index 32e46a340cc..222bab4efe8 100644
--- a/soccer/src/soccer/strategy/agent/position/defense.cpp
+++ b/soccer/src/soccer/strategy/agent/position/defense.cpp
@@ -1,5 +1,6 @@
 #include "defense.hpp"
 
+
 namespace strategy {
 
 Defense::Defense(int r_id) : Position(r_id) { position_name_ = "Defense"; }
@@ -9,7 +10,7 @@ std::optional<RobotIntent> Defense::derived_get_task(RobotIntent intent) {
     return state_to_task(intent);
 }
 
-string Defense::return_current_state() {
+std::string Defense::return_current_state() {
     return "Defense" + static_cast<int>(current_state_);
 }
 
diff --git a/soccer/src/soccer/strategy/agent/position/defense.hpp b/soccer/src/soccer/strategy/agent/position/defense.hpp
index 06a4d284c77..5272987ea9a 100644
--- a/soccer/src/soccer/strategy/agent/position/defense.hpp
+++ b/soccer/src/soccer/strategy/agent/position/defense.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <cmath>
+#include <string>
 
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_action/rclcpp_action.hpp>
@@ -35,7 +36,7 @@ class Defense : public Position {
     void derived_acknowledge_pass() override;
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
-    string return_current_state() override;
+    std::string return_current_state() override;
 
 
     void die() override;
diff --git a/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp b/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp
index 495a3596aac..2bc5bc8f0be 100644
--- a/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp
+++ b/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp
@@ -28,7 +28,7 @@ std::optional<RobotIntent> GoalKicker::derived_get_task(RobotIntent intent) {
     return intent;
 }
 
-string GoalKicker::return_current_state() {
+std::string GoalKicker::return_current_state() {
     return "GoalKicker";
 }
 
diff --git a/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp b/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp
index 007b92c4232..2752d868c2b 100644
--- a/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp
+++ b/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <rclcpp/rclcpp.hpp>
+#include <string>
 
 #include "planning/instant.hpp"
 #include "planning/planner/motion_command.hpp"
@@ -32,7 +33,7 @@ class GoalKicker : public Position {
      */
     void derived_acknowledge_ball_in_transit() override;
 
-    string return_current_state() override;
+    std::string return_current_state() override;
 
 private:
     std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;
diff --git a/soccer/src/soccer/strategy/agent/position/goalie.cpp b/soccer/src/soccer/strategy/agent/position/goalie.cpp
index 9641b69c7df..9dcd0b30a96 100644
--- a/soccer/src/soccer/strategy/agent/position/goalie.cpp
+++ b/soccer/src/soccer/strategy/agent/position/goalie.cpp
@@ -11,7 +11,7 @@ std::optional<RobotIntent> Goalie::derived_get_task(RobotIntent intent) {
     return state_to_task(intent);
 }
 
-string Goalie::return_current_state() {
+std::string Goalie::return_current_state() {
     return "Goalie";
 }
 
diff --git a/soccer/src/soccer/strategy/agent/position/goalie.hpp b/soccer/src/soccer/strategy/agent/position/goalie.hpp
index 875b5cad3b0..7086f259c1d 100644
--- a/soccer/src/soccer/strategy/agent/position/goalie.hpp
+++ b/soccer/src/soccer/strategy/agent/position/goalie.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <cmath>
+#include <string>
 
 #include <spdlog/spdlog.h>
 
@@ -28,7 +29,7 @@ class Goalie : public Position {
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
 
-    string return_current_state() override;
+    std::string return_current_state() override;
 
 private:
     // point goalie will aim for when clearing balls
diff --git a/soccer/src/soccer/strategy/agent/position/offense.cpp b/soccer/src/soccer/strategy/agent/position/offense.cpp
index 463cb1ec172..f7d27409009 100644
--- a/soccer/src/soccer/strategy/agent/position/offense.cpp
+++ b/soccer/src/soccer/strategy/agent/position/offense.cpp
@@ -14,7 +14,7 @@ std::optional<RobotIntent> Offense::derived_get_task(RobotIntent intent) {
     return state_to_task(intent);
 }
 
-string Offense::return_current_state() {
+std::string Offense::return_current_state() {
     return "Offense" + static_cast<int>(current_state_);
 }
 
diff --git a/soccer/src/soccer/strategy/agent/position/offense.hpp b/soccer/src/soccer/strategy/agent/position/offense.hpp
index e0926257975..7c2b12ca3cc 100644
--- a/soccer/src/soccer/strategy/agent/position/offense.hpp
+++ b/soccer/src/soccer/strategy/agent/position/offense.hpp
@@ -2,6 +2,7 @@
 
 #include <chrono>
 #include <cmath>
+#include <string>
 
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_action/rclcpp_action.hpp>
@@ -36,7 +37,7 @@ class Offense : public Position {
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
 
-    string return_current_state() override;
+    std::string return_current_state() override;
 
 private:
     bool kicking_{true};
diff --git a/soccer/src/soccer/strategy/agent/position/penalty_player.cpp b/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
index aa088ab78a4..580c23287d8 100644
--- a/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
+++ b/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
@@ -31,7 +31,7 @@ std::optional<RobotIntent> PenaltyPlayer::derived_get_task(RobotIntent intent) {
     return intent;
 }
 
-string PenaltyPlayer::return_current_state() {
+std::string PenaltyPlayer::return_current_state() {
     return "PenaltyPlayer";
 }
 
diff --git a/soccer/src/soccer/strategy/agent/position/penalty_player.hpp b/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
index 7a3c30c7ea2..32b5186be41 100644
--- a/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
+++ b/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <rclcpp/rclcpp.hpp>
+#include <string>
 
 #include "planning/instant.hpp"
 #include "planning/planner/motion_command.hpp"
@@ -32,7 +33,7 @@ class PenaltyPlayer : public Position {
      */
     void derived_acknowledge_ball_in_transit() override;
 
-    void return_current_state() override;
+    std::string return_current_state() override;
 
 private:
     std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;
diff --git a/soccer/src/soccer/strategy/agent/position/position.cpp b/soccer/src/soccer/strategy/agent/position/position.cpp
index bf329b6ab15..f91ba003430 100644
--- a/soccer/src/soccer/strategy/agent/position/position.cpp
+++ b/soccer/src/soccer/strategy/agent/position/position.cpp
@@ -55,6 +55,8 @@ void Position::update_field_dimensions(const FieldDimensions& field_dims) {
     field_dimensions_ = field_dims;
 }
 
+std::string Position::return_current_state() {}
+
 void Position::update_alive_robots(std::vector<u_int8_t> alive_robots) {
     alive_robots_ = alive_robots;
 
diff --git a/soccer/src/soccer/strategy/agent/position/position.hpp b/soccer/src/soccer/strategy/agent/position/position.hpp
index 3e8314d3ef0..f74b9479825 100644
--- a/soccer/src/soccer/strategy/agent/position/position.hpp
+++ b/soccer/src/soccer/strategy/agent/position/position.hpp
@@ -2,6 +2,7 @@
 
 #include <cstdlib>
 #include <vector>
+#include <string>
 
 #include <spdlog/spdlog.h>
 
@@ -76,7 +77,7 @@ class Position {
     const std::string get_name();
 
     //returns the current state of the robot
-    virtual string return_current_state();
+    virtual std::string return_current_state();
 
     /**
      * @brief setter for time_left_
diff --git a/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp b/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
index cc607f30fc4..602bcc0fb39 100644
--- a/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
+++ b/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
@@ -120,6 +120,6 @@ void RobotFactoryPosition::die() { current_position_->die(); }
 
 void RobotFactoryPosition::revive() { current_position_->revive(); }
 
-string RobotFactoryPosition::return_current_state() { current_position_->return_current_state(); }
+std::string RobotFactoryPosition::return_current_state() { current_position_->return_current_state(); }
 
 }  // namespace strategy
diff --git a/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp b/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
index e9736b2b697..ccb2cda75d2 100644
--- a/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
+++ b/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <cmath>
+#include <string>
 
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_action/rclcpp_action.hpp>
@@ -54,7 +55,7 @@ class RobotFactoryPosition : public Position {
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
 
-    string return_current_state() override;
+    std::string return_current_state() override;
 
     void set_is_done() override;
     void die() override;

From 4ef76863ff87cff17ad8d53529de4cf9d3c705b8 Mon Sep 17 00:00:00 2001
From: Will Deinzer <willdeinzer@gmail.com>
Date: Tue, 20 Feb 2024 21:16:48 -0500
Subject: [PATCH 5/8] Fixed method declaration

---
 soccer/src/soccer/strategy/agent/position/position.cpp | 2 --
 soccer/src/soccer/strategy/agent/position/position.hpp | 2 +-
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/soccer/src/soccer/strategy/agent/position/position.cpp b/soccer/src/soccer/strategy/agent/position/position.cpp
index f91ba003430..bf329b6ab15 100644
--- a/soccer/src/soccer/strategy/agent/position/position.cpp
+++ b/soccer/src/soccer/strategy/agent/position/position.cpp
@@ -55,8 +55,6 @@ void Position::update_field_dimensions(const FieldDimensions& field_dims) {
     field_dimensions_ = field_dims;
 }
 
-std::string Position::return_current_state() {}
-
 void Position::update_alive_robots(std::vector<u_int8_t> alive_robots) {
     alive_robots_ = alive_robots;
 
diff --git a/soccer/src/soccer/strategy/agent/position/position.hpp b/soccer/src/soccer/strategy/agent/position/position.hpp
index f74b9479825..eb3da1e8032 100644
--- a/soccer/src/soccer/strategy/agent/position/position.hpp
+++ b/soccer/src/soccer/strategy/agent/position/position.hpp
@@ -77,7 +77,7 @@ class Position {
     const std::string get_name();
 
     //returns the current state of the robot
-    virtual std::string return_current_state();
+    virtual std::string return_current_state() = 0;
 
     /**
      * @brief setter for time_left_

From fe2de1b3d532e8896e64c491425eb3b2670e5e0d Mon Sep 17 00:00:00 2001
From: Will Deinzer <willdeinzer@gmail.com>
Date: Tue, 20 Feb 2024 21:33:58 -0500
Subject: [PATCH 6/8] Fixed method declaration again

---
 .../soccer/strategy/agent/position/robot_factory_position.cpp   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp b/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
index 602bcc0fb39..cb12e0a1ca8 100644
--- a/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
+++ b/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
@@ -120,6 +120,6 @@ void RobotFactoryPosition::die() { current_position_->die(); }
 
 void RobotFactoryPosition::revive() { current_position_->revive(); }
 
-std::string RobotFactoryPosition::return_current_state() { current_position_->return_current_state(); }
+std::string RobotFactoryPosition::return_current_state() { return current_position_->return_current_state(); }
 
 }  // namespace strategy

From 7d76606b3dedf74df74ab33f971964d0b77ff81e Mon Sep 17 00:00:00 2001
From: Will Deinzer <willdeinzer@gmail.com>
Date: Tue, 27 Feb 2024 19:52:34 -0500
Subject: [PATCH 7/8] Fixed method name and casting issues

---
 soccer/src/soccer/strategy/agent/position/defense.cpp         | 4 ++--
 soccer/src/soccer/strategy/agent/position/defense.hpp         | 2 +-
 soccer/src/soccer/strategy/agent/position/goal_kicker.cpp     | 2 +-
 soccer/src/soccer/strategy/agent/position/goal_kicker.hpp     | 2 +-
 soccer/src/soccer/strategy/agent/position/goalie.cpp          | 2 +-
 soccer/src/soccer/strategy/agent/position/goalie.hpp          | 2 +-
 soccer/src/soccer/strategy/agent/position/offense.cpp         | 4 ++--
 soccer/src/soccer/strategy/agent/position/offense.hpp         | 2 +-
 soccer/src/soccer/strategy/agent/position/penalty_player.cpp  | 2 +-
 soccer/src/soccer/strategy/agent/position/penalty_player.hpp  | 2 +-
 soccer/src/soccer/strategy/agent/position/position.hpp        | 2 +-
 .../soccer/strategy/agent/position/robot_factory_position.cpp | 2 +-
 .../soccer/strategy/agent/position/robot_factory_position.hpp | 2 +-
 13 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/soccer/src/soccer/strategy/agent/position/defense.cpp b/soccer/src/soccer/strategy/agent/position/defense.cpp
index 222bab4efe8..67f6062782d 100644
--- a/soccer/src/soccer/strategy/agent/position/defense.cpp
+++ b/soccer/src/soccer/strategy/agent/position/defense.cpp
@@ -10,8 +10,8 @@ std::optional<RobotIntent> Defense::derived_get_task(RobotIntent intent) {
     return state_to_task(intent);
 }
 
-std::string Defense::return_current_state() {
-    return "Defense" + static_cast<int>(current_state_);
+std::string Defense::get_current_state() {
+    return std::string{"Defense"} + std::to_string(static_cast<int>(current_state_));
 }
 
 Defense::State Defense::update_state() {
diff --git a/soccer/src/soccer/strategy/agent/position/defense.hpp b/soccer/src/soccer/strategy/agent/position/defense.hpp
index 5272987ea9a..7154b1b3361 100644
--- a/soccer/src/soccer/strategy/agent/position/defense.hpp
+++ b/soccer/src/soccer/strategy/agent/position/defense.hpp
@@ -36,7 +36,7 @@ class Defense : public Position {
     void derived_acknowledge_pass() override;
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
-    std::string return_current_state() override;
+    std::string get_current_state() override;
 
 
     void die() override;
diff --git a/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp b/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp
index 2bc5bc8f0be..7f957644d86 100644
--- a/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp
+++ b/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp
@@ -28,7 +28,7 @@ std::optional<RobotIntent> GoalKicker::derived_get_task(RobotIntent intent) {
     return intent;
 }
 
-std::string GoalKicker::return_current_state() {
+std::string GoalKicker::get_current_state() {
     return "GoalKicker";
 }
 
diff --git a/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp b/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp
index 2752d868c2b..819510ed8cf 100644
--- a/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp
+++ b/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp
@@ -33,7 +33,7 @@ class GoalKicker : public Position {
      */
     void derived_acknowledge_ball_in_transit() override;
 
-    std::string return_current_state() override;
+    std::string get_current_state() override;
 
 private:
     std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;
diff --git a/soccer/src/soccer/strategy/agent/position/goalie.cpp b/soccer/src/soccer/strategy/agent/position/goalie.cpp
index 9dcd0b30a96..f4a9ce1cba8 100644
--- a/soccer/src/soccer/strategy/agent/position/goalie.cpp
+++ b/soccer/src/soccer/strategy/agent/position/goalie.cpp
@@ -11,7 +11,7 @@ std::optional<RobotIntent> Goalie::derived_get_task(RobotIntent intent) {
     return state_to_task(intent);
 }
 
-std::string Goalie::return_current_state() {
+std::string Goalie::get_current_state() {
     return "Goalie";
 }
 
diff --git a/soccer/src/soccer/strategy/agent/position/goalie.hpp b/soccer/src/soccer/strategy/agent/position/goalie.hpp
index 7086f259c1d..76115002ce9 100644
--- a/soccer/src/soccer/strategy/agent/position/goalie.hpp
+++ b/soccer/src/soccer/strategy/agent/position/goalie.hpp
@@ -29,7 +29,7 @@ class Goalie : public Position {
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
 
-    std::string return_current_state() override;
+    std::string get_current_state() override;
 
 private:
     // point goalie will aim for when clearing balls
diff --git a/soccer/src/soccer/strategy/agent/position/offense.cpp b/soccer/src/soccer/strategy/agent/position/offense.cpp
index f7d27409009..c64d49b5177 100644
--- a/soccer/src/soccer/strategy/agent/position/offense.cpp
+++ b/soccer/src/soccer/strategy/agent/position/offense.cpp
@@ -14,8 +14,8 @@ std::optional<RobotIntent> Offense::derived_get_task(RobotIntent intent) {
     return state_to_task(intent);
 }
 
-std::string Offense::return_current_state() {
-    return "Offense" + static_cast<int>(current_state_);
+std::string Offense::get_current_state() {
+    return std::string{"Offense"} + std::to_string(static_cast<int>(current_state_));
 }
 
 Offense::State Offense::update_state() {
diff --git a/soccer/src/soccer/strategy/agent/position/offense.hpp b/soccer/src/soccer/strategy/agent/position/offense.hpp
index 7c2b12ca3cc..e45df52e772 100644
--- a/soccer/src/soccer/strategy/agent/position/offense.hpp
+++ b/soccer/src/soccer/strategy/agent/position/offense.hpp
@@ -37,7 +37,7 @@ class Offense : public Position {
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
 
-    std::string return_current_state() override;
+    std::string get_current_state() override;
 
 private:
     bool kicking_{true};
diff --git a/soccer/src/soccer/strategy/agent/position/penalty_player.cpp b/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
index 580c23287d8..b6e0fe1c7c3 100644
--- a/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
+++ b/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
@@ -31,7 +31,7 @@ std::optional<RobotIntent> PenaltyPlayer::derived_get_task(RobotIntent intent) {
     return intent;
 }
 
-std::string PenaltyPlayer::return_current_state() {
+std::string PenaltyPlayer::get_current_state() {
     return "PenaltyPlayer";
 }
 
diff --git a/soccer/src/soccer/strategy/agent/position/penalty_player.hpp b/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
index 32b5186be41..7c342153cc7 100644
--- a/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
+++ b/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
@@ -33,7 +33,7 @@ class PenaltyPlayer : public Position {
      */
     void derived_acknowledge_ball_in_transit() override;
 
-    std::string return_current_state() override;
+    std::string get_current_state() override;
 
 private:
     std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;
diff --git a/soccer/src/soccer/strategy/agent/position/position.hpp b/soccer/src/soccer/strategy/agent/position/position.hpp
index eb3da1e8032..0279f37750b 100644
--- a/soccer/src/soccer/strategy/agent/position/position.hpp
+++ b/soccer/src/soccer/strategy/agent/position/position.hpp
@@ -77,7 +77,7 @@ class Position {
     const std::string get_name();
 
     //returns the current state of the robot
-    virtual std::string return_current_state() = 0;
+    virtual std::string get_current_state() = 0;
 
     /**
      * @brief setter for time_left_
diff --git a/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp b/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
index cb12e0a1ca8..46612e5d8b7 100644
--- a/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
+++ b/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
@@ -120,6 +120,6 @@ void RobotFactoryPosition::die() { current_position_->die(); }
 
 void RobotFactoryPosition::revive() { current_position_->revive(); }
 
-std::string RobotFactoryPosition::return_current_state() { return current_position_->return_current_state(); }
+std::string RobotFactoryPosition::get_current_state() { return current_position_->get_current_state(); }
 
 }  // namespace strategy
diff --git a/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp b/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
index ccb2cda75d2..7edc6d8595e 100644
--- a/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
+++ b/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
@@ -55,7 +55,7 @@ class RobotFactoryPosition : public Position {
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
 
-    std::string return_current_state() override;
+    std::string get_current_state() override;
 
     void set_is_done() override;
     void die() override;

From cd8314e8515da805f8b2c704778c4fdda3ce0167 Mon Sep 17 00:00:00 2001
From: Sid Parikh <parikhsid16@gmail.com>
Date: Wed, 28 Feb 2024 21:31:37 +0000
Subject: [PATCH 8/8] pretty-lines

---
 soccer/src/soccer/strategy/agent/position/defense.cpp         | 1 -
 soccer/src/soccer/strategy/agent/position/defense.hpp         | 1 -
 soccer/src/soccer/strategy/agent/position/goal_kicker.cpp     | 4 +---
 soccer/src/soccer/strategy/agent/position/goal_kicker.hpp     | 3 ++-
 soccer/src/soccer/strategy/agent/position/goalie.cpp          | 4 +---
 soccer/src/soccer/strategy/agent/position/penalty_player.cpp  | 4 +---
 soccer/src/soccer/strategy/agent/position/penalty_player.hpp  | 3 ++-
 soccer/src/soccer/strategy/agent/position/position.hpp        | 4 ++--
 .../soccer/strategy/agent/position/robot_factory_position.cpp | 4 +++-
 9 files changed, 12 insertions(+), 16 deletions(-)

diff --git a/soccer/src/soccer/strategy/agent/position/defense.cpp b/soccer/src/soccer/strategy/agent/position/defense.cpp
index 67f6062782d..3e72a81a478 100644
--- a/soccer/src/soccer/strategy/agent/position/defense.cpp
+++ b/soccer/src/soccer/strategy/agent/position/defense.cpp
@@ -1,6 +1,5 @@
 #include "defense.hpp"
 
-
 namespace strategy {
 
 Defense::Defense(int r_id) : Position(r_id) { position_name_ = "Defense"; }
diff --git a/soccer/src/soccer/strategy/agent/position/defense.hpp b/soccer/src/soccer/strategy/agent/position/defense.hpp
index 7154b1b3361..86ee80e50f3 100644
--- a/soccer/src/soccer/strategy/agent/position/defense.hpp
+++ b/soccer/src/soccer/strategy/agent/position/defense.hpp
@@ -38,7 +38,6 @@ class Defense : public Position {
     void derived_acknowledge_ball_in_transit() override;
     std::string get_current_state() override;
 
-
     void die() override;
     void revive() override;
 
diff --git a/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp b/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp
index 7f957644d86..2efb9576218 100644
--- a/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp
+++ b/soccer/src/soccer/strategy/agent/position/goal_kicker.cpp
@@ -28,9 +28,7 @@ std::optional<RobotIntent> GoalKicker::derived_get_task(RobotIntent intent) {
     return intent;
 }
 
-std::string GoalKicker::get_current_state() {
-    return "GoalKicker";
-}
+std::string GoalKicker::get_current_state() { return "GoalKicker"; }
 
 void GoalKicker::derived_acknowledge_pass() {}
 
diff --git a/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp b/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp
index 819510ed8cf..249010a81df 100644
--- a/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp
+++ b/soccer/src/soccer/strategy/agent/position/goal_kicker.hpp
@@ -1,8 +1,9 @@
 #pragma once
 
-#include <rclcpp/rclcpp.hpp>
 #include <string>
 
+#include <rclcpp/rclcpp.hpp>
+
 #include "planning/instant.hpp"
 #include "planning/planner/motion_command.hpp"
 #include "position.hpp"
diff --git a/soccer/src/soccer/strategy/agent/position/goalie.cpp b/soccer/src/soccer/strategy/agent/position/goalie.cpp
index f4a9ce1cba8..782daf18f73 100644
--- a/soccer/src/soccer/strategy/agent/position/goalie.cpp
+++ b/soccer/src/soccer/strategy/agent/position/goalie.cpp
@@ -11,9 +11,7 @@ std::optional<RobotIntent> Goalie::derived_get_task(RobotIntent intent) {
     return state_to_task(intent);
 }
 
-std::string Goalie::get_current_state() {
-    return "Goalie";
-}
+std::string Goalie::get_current_state() { return "Goalie"; }
 
 Goalie::State Goalie::update_state() {
     // if a shot is coming, override all and go block it
diff --git a/soccer/src/soccer/strategy/agent/position/penalty_player.cpp b/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
index b6e0fe1c7c3..82e58044768 100644
--- a/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
+++ b/soccer/src/soccer/strategy/agent/position/penalty_player.cpp
@@ -31,9 +31,7 @@ std::optional<RobotIntent> PenaltyPlayer::derived_get_task(RobotIntent intent) {
     return intent;
 }
 
-std::string PenaltyPlayer::get_current_state() {
-    return "PenaltyPlayer";
-}
+std::string PenaltyPlayer::get_current_state() { return "PenaltyPlayer"; }
 
 void PenaltyPlayer::derived_acknowledge_pass() {}
 
diff --git a/soccer/src/soccer/strategy/agent/position/penalty_player.hpp b/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
index 7c342153cc7..2942db29d83 100644
--- a/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
+++ b/soccer/src/soccer/strategy/agent/position/penalty_player.hpp
@@ -1,8 +1,9 @@
 #pragma once
 
-#include <rclcpp/rclcpp.hpp>
 #include <string>
 
+#include <rclcpp/rclcpp.hpp>
+
 #include "planning/instant.hpp"
 #include "planning/planner/motion_command.hpp"
 #include "rj_common/field_dimensions.hpp"
diff --git a/soccer/src/soccer/strategy/agent/position/position.hpp b/soccer/src/soccer/strategy/agent/position/position.hpp
index 0279f37750b..9faca6c378d 100644
--- a/soccer/src/soccer/strategy/agent/position/position.hpp
+++ b/soccer/src/soccer/strategy/agent/position/position.hpp
@@ -1,8 +1,8 @@
 #pragma once
 
 #include <cstdlib>
-#include <vector>
 #include <string>
+#include <vector>
 
 #include <spdlog/spdlog.h>
 
@@ -76,7 +76,7 @@ class Position {
     void update_alive_robots(std::vector<u_int8_t> alive_robots);
     const std::string get_name();
 
-    //returns the current state of the robot
+    // returns the current state of the robot
     virtual std::string get_current_state() = 0;
 
     /**
diff --git a/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp b/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
index 46612e5d8b7..99f91b56656 100644
--- a/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
+++ b/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
@@ -120,6 +120,8 @@ void RobotFactoryPosition::die() { current_position_->die(); }
 
 void RobotFactoryPosition::revive() { current_position_->revive(); }
 
-std::string RobotFactoryPosition::get_current_state() { return current_position_->get_current_state(); }
+std::string RobotFactoryPosition::get_current_state() {
+    return current_position_->get_current_state();
+}
 
 }  // namespace strategy