Decision moved to init

Author: cleWu03

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_ball.py

@@ -25,12 +25,10 @@ def __init__(self, blackboard, dsd, parameters):
         self.distance = parameters.get("distance", self.blackboard.config["ball_approach_dist"])
         # Offset so we kick the ball with one foot instead of the center between the feet
         self.side_offset = parameters.get("side_offset", 0.00)
-
-
-
-    def perform(self, reevaluate=False):
         ball_position_y_relative = self.blackboard.world_model.get_ball_position_uv()[1]
         self.side_offset = math.copysign(self.side_offset, ball_position_y_relative)
+
+    def perform(self, reevaluate=False):
         pose_msg = self.blackboard.pathfinding.get_ball_goal(self.target, self.distance, self.side_offset)
         self.blackboard.pathfinding.publish(pose_msg)