Coordinator of high-level logic. More...

Public Member Functions
	GameplayModule (Context *const context)

SystemState *	state () const

virtual void	run ()
	runs the current play More...

void	setupUI ()

void	loadPlaybook (const std::string &playbookFile, bool isAbsolute=false)
	Loads a playbook file to enable specified plays. More...

void	savePlaybook (const std::string &playbookFile, bool isAbsolute=false)
	Saves the currently enabled plays to a playbook file If isAbsolute is false, the path is treated as relative to the playbooks directory. More...

void	clearPlays ()

bool	checkPlaybookStatus ()

void	goalieID (int value)

int	goalieID ()

Geometry2d::TransformMatrix	ballMatrix () const
	Centered on the ball.

Geometry2d::TransformMatrix	centerMatrix () const
	Center of the field.

Geometry2d::TransformMatrix	oppMatrix () const
	Opponent's coordinates.

const std::set< OurRobot * > &	playRobots () const
	All robots on our team that are usable by plays.

void	sendFieldDimensionsToPython ()

void	calculateFieldObstacles ()

bool	hasFieldEdgeInsetChanged () const

Geometry2d::ShapeSet	globalObstacles () const
	Returns the current set of global obstacles, including the field. More...

Geometry2d::ShapeSet	goalZoneObstacles () const
	Returns a ShapeSet containing both goal zones.

void	updateFieldDimensions ()
	Resends the current field dimensions to python. More...

Static Public Member Functions
static void	createConfiguration (Configuration *cfg)

Protected Member Functions
boost::python::object	getRootPlay ()

boost::python::object	getMainModule ()
	gets the instance of the main.py module that's loaded at GameplayModule

Detailed Description

Coordinator of high-level logic.

The gameplay module has an embedded python interpreter and serves as the bridge between our python and c++ code. The python side of things is responsible for high-level gameplay. At each iteration of the main run loop, the GameplayModule calls into python, which does all of the high-level planning, resulting in updated motion targets, etc for the robots. The GameplayModule then executes path planning for each OurRobot.

Member Function Documentation

◆ calculateFieldObstacles()

void Gameplay::GameplayModule::calculateFieldObstacles ( )

Make an obstacle to cover the opponent's half of the field except for one robot diameter across the center line.

◆ globalObstacles()

Geometry2d::ShapeSet Gameplay::GameplayModule::globalObstacles ( ) const

Returns the current set of global obstacles, including the field.

returns the group of obstacles for the field

Add non floor obstacles

◆ loadPlaybook()

void Gameplay::GameplayModule::loadPlaybook	(	const std::string &	playbookFile,
		bool	isAbsolute = `false`
	)

Loads a playbook file to enable specified plays.

If isAbsolute is false, the path is treated as relative to the playbooks directory. Otherwise, it is treated as an absolute path.

◆ run()

void Gameplay::GameplayModule::run ( )

virtual

runs the current play

prepare each bot for the next iteration by resetting temporary things

Build a list of visible robots

Run the current play

visualize

◆ savePlaybook()

void Gameplay::GameplayModule::savePlaybook	(	const std::string &	playbookFile,
		bool	isAbsolute = `false`
	)

Saves the currently enabled plays to a playbook file If isAbsolute is false, the path is treated as relative to the playbooks directory.

Otherwise, it is treated as an absolute path.

◆ updateFieldDimensions()

void Gameplay::GameplayModule::updateFieldDimensions ( )

Resends the current field dimensions to python.

This should be called whenever the current field dimensions change

The documentation for this class was generated from the following files:

soccer/gameplay/GameplayModule.hpp
soccer/gameplay/GameplayModule.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions