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Create goal boxes #2224

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merged 4 commits into from
Apr 24, 2024
Merged

Create goal boxes #2224

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41f8941
created goal box rects
Mar 11, 2024
c32025a
added goal obstacles
Mar 11, 2024
71a3731
Fix Code Style On create-goal-boxes (#2225)
github-actions[bot] Mar 13, 2024
c5c20e0
fix pr
jacksherling Apr 23, 2024
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12 changes: 12 additions & 0 deletions rj_common/include/rj_common/field_dimensions.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,9 @@ struct FieldDimensions {

[[nodiscard]] rj_geometry::Point center_point() const { return center_point_; }

[[nodiscard]] rj_geometry::Rect our_goal_area() const { return our_goal_area_; }
[[nodiscard]] rj_geometry::Rect their_goal_area() const { return their_goal_area_; }

/*
* Provides a rect that is a padded version of their goalbox.
* Used as a static obstacle in certain match situations.
Expand Down Expand Up @@ -230,6 +233,13 @@ struct FieldDimensions {
their_left_goal_post_coordinate_ = rj_geometry::Point(-goal_width_ / 2, length_);
their_right_goal_post_coordinate_ = rj_geometry::Point(goal_width_ / 2, length_);

our_goal_area_ =
rj_geometry::Rect(our_left_goal_post_coordinate_,
our_right_goal_post_coordinate_ - rj_geometry::Point(0, goal_depth_));
their_goal_area_ = rj_geometry::Rect(
their_left_goal_post_coordinate_,
their_right_goal_post_coordinate_ + rj_geometry::Point(0, goal_depth_));

our_left_corner_ = rj_geometry::Point(field_x_left_coord_, 0.0);
our_right_corner_ = rj_geometry::Point(field_x_right_coord_, 0.0);
their_left_corner_ = rj_geometry::Point(field_x_left_coord_, length_);
Expand Down Expand Up @@ -322,6 +332,8 @@ struct FieldDimensions {

rj_geometry::Rect our_penalty_area_coordinates_;
rj_geometry::Rect their_penalty_area_coordinates_;
rj_geometry::Rect our_goal_area_;
rj_geometry::Rect their_goal_area_;
rj_geometry::Point our_left_goal_post_coordinate_;
rj_geometry::Point our_right_goal_post_coordinate_;
rj_geometry::Point their_left_goal_post_coordinate_;
Expand Down
7 changes: 7 additions & 0 deletions soccer/src/soccer/planning/global_state.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,11 @@ rj_geometry::ShapeSet GlobalState::create_defense_area_obstacles() {
auto our_defense_area{
std::make_shared<rj_geometry::Rect>(last_field_dimensions_.our_defense_area())};

auto our_goal_area{std::make_shared<rj_geometry::Rect>(last_field_dimensions_.our_goal_area())};

auto their_goal_area{
std::make_shared<rj_geometry::Rect>(last_field_dimensions_.their_goal_area())};

// Sometimes there is a greater distance we need to keep:
// https://robocup-ssl.github.io/ssl-rules/sslrules.html#_robot_too_close_to_opponent_defense_area
bool is_extra_dist_necessary = (last_play_state_.state() == PlayState::State::Stop ||
Expand All @@ -99,7 +104,9 @@ rj_geometry::ShapeSet GlobalState::create_defense_area_obstacles() {
// Combine both defense areas into ShapeSet
rj_geometry::ShapeSet def_area_obstacles{};
def_area_obstacles.add(our_defense_area);
def_area_obstacles.add(our_goal_area);
def_area_obstacles.add(their_defense_area);
def_area_obstacles.add(their_goal_area);

return def_area_obstacles;
}
Expand Down
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