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Fix Code Style On cameron-carson/penalty-position-dribbling #2337

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merged 1 commit into from
Feb 12, 2025
Merged

Fix Code Style On cameron-carson/penalty-position-dribbling #2337

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39 changes: 23 additions & 16 deletions soccer/src/soccer/strategy/agent/position/penalty_player.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ PenaltyPlayer::State PenaltyPlayer::update_state() {
case SMALL_KICK: {
if (distance_from_enemy_goal() < kDistanceToGoalThreshold) {
return LINE_UP;
}
}
break;
}
case LINE_UP: {
Expand Down Expand Up @@ -56,10 +56,10 @@ PenaltyPlayer::State PenaltyPlayer::update_state() {

std::optional<RobotIntent> PenaltyPlayer::state_to_task(RobotIntent intent) {
switch (latest_state_) {
case START: { // First, gets the robot to the ball to begin penalty dribbling-shooting
case START: { // First, gets the robot to the ball to begin penalty dribbling-shooting
SPDLOG_INFO("START");
double y_pos = last_world_state_->ball.position.y();
y_pos -= kRobotRadius + 0.3; // added the 0.01 as a buffer space
y_pos -= kRobotRadius + 0.3; // added the 0.01 as a buffer space
rj_geometry::Point target_pt{last_world_state_->ball.position.x(), y_pos};
rj_geometry::Point target_vel{0.0, 0.0};
// Face ball
Expand All @@ -71,22 +71,24 @@ std::optional<RobotIntent> PenaltyPlayer::state_to_task(RobotIntent intent) {
planning::MotionCommand{"path_target", goal, planning::FaceBall{}};
break;
}
case SMALL_KICK: { //less of a kick, more of a "follow" ball closely
//SPDLOG_INFO("SMALL_KICK");
case SMALL_KICK: { // less of a kick, more of a "follow" ball closely
// SPDLOG_INFO("SMALL_KICK");
rj_geometry::Point center_goal = field_dimensions_.their_goal_loc();
auto line_kick_cmd =
planning::MotionCommand{"line_kick", planning::LinearMotionInstant{center_goal}};

intent.motion_command = line_kick_cmd;
intent.shoot_mode = RobotIntent::ShootMode::KICK;
intent.trigger_mode = RobotIntent::TriggerMode::ON_BREAK_BEAM;
intent.kick_speed = 0.0;
// the point of making a 0 kick speed is to fake dribble since we cannot get the vaccum behavior to work
intent.kick_speed = 0.0;
// the point of making a 0 kick speed is to fake dribble since we cannot get the vaccum
// behavior to work

return intent;
}
case LINE_UP: { // gets the robot behind the ball with a certain distance (usually immediatly skipped if the robot is already close)
//SPDLOG_INFO("LINE_UP");
case LINE_UP: { // gets the robot behind the ball with a certain distance (usually
// immediatly skipped if the robot is already close)
// SPDLOG_INFO("LINE_UP");
double y_pos = last_world_state_->ball.position.y();
y_pos -= kRobotRadius + 0.1;
rj_geometry::Point target_pt{last_world_state_->ball.position.x(), y_pos};
Expand All @@ -103,8 +105,9 @@ std::optional<RobotIntent> PenaltyPlayer::state_to_task(RobotIntent intent) {

return intent;
}
case SHOOTING_START: { // Positions the robot behind the ball at a certain angle so that it has a straight shot towards the goal
//SPDLOG_INFO("SHOOTING_START");
case SHOOTING_START: { // Positions the robot behind the ball at a certain angle so that it
// has a straight shot towards the goal
// SPDLOG_INFO("SHOOTING_START");
target_ = calculate_best_shot();
rj_geometry::Point ball_position = last_world_state_->ball.position;
auto current_pos = last_world_state_->get_robot(true, robot_id_).pose.position();
Expand All @@ -117,8 +120,9 @@ std::optional<RobotIntent> PenaltyPlayer::state_to_task(RobotIntent intent) {

return intent;
}
case SHOOTING: { // Kicks the ball with a now much higher speed (basically SMALL_KICK but power set to 4)
//SPDLOG_INFO("SHOOTING");
case SHOOTING: { // Kicks the ball with a now much higher speed (basically SMALL_KICK but
// power set to 4)
// SPDLOG_INFO("SHOOTING");
auto line_kick_cmd =
planning::MotionCommand{"line_kick", planning::LinearMotionInstant{target_}};

Expand Down Expand Up @@ -164,13 +168,16 @@ double PenaltyPlayer::distance_from_their_robots(rj_geometry::Point tail,
rj_geometry::Point PenaltyPlayer::calculate_best_shot() const {
// Goal location
rj_geometry::Point their_goal_pos = field_dimensions_.their_goal_loc();
double goal_width = field_dimensions_.goal_width(); // 1.0 meters // BALL SEEMS TO OCCASIONALLY MISS SHOT ON EDGE, CONSIDER CHANGING THIS?
double goal_width =
field_dimensions_.goal_width(); // 1.0 meters // BALL SEEMS TO OCCASIONALLY MISS SHOT ON
// EDGE, CONSIDER CHANGING THIS?

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

// Iterates across 19 possible shot locations along the goal width in 0.05-meter increments.
// For each location, it calculates the clearance distance from opponent robots and updates the best shot position if a better (less obstructed) option is found.
// Iterates across 19 possible shot locations along the goal width in 0.05-meter increments.
// For each location, it calculates the clearance distance from opponent robots and updates the
// best shot position if a better (less obstructed) option is found.
rj_geometry::Point best_shot = their_goal_pos;
double best_distance = -1.0;
rj_geometry::Point increment(0.05, 0);
Expand Down
5 changes: 3 additions & 2 deletions soccer/src/soccer/strategy/agent/position/penalty_player.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,8 +59,9 @@ class PenaltyPlayer : public Position {
};

double distance_from_enemy_goal() const {
return last_world_state_->get_robot(true, robot_id_).pose.position().dist_to(
field_dimensions_.their_goal_loc());
return last_world_state_->get_robot(true, robot_id_)
.pose.position()
.dist_to(field_dimensions_.their_goal_loc());
};

/**
Expand Down