A robot on our team. More...

Public Types
typedef std::array< float, Num_Shells >	RobotMask

Public Member Functions
	OurRobot (int shell, Context *const context)
	Construct a new OurRobot. More...

void	addStatusText ()

void	addText (const QString &text, const QColor &color=Qt::white, const QString &layerPrefix="RobotText")

bool	charged () const
	true if the kicker is ready

float	kickTimer () const
	returns the time since the kicker was last charged, 0.0 if ready

const Geometry2d::Segment	kickerBar () const
	segment for the location of the kicker

Geometry2d::Point	pointInRobotSpace (Geometry2d::Point pt) const
	converts a point to the frame of reference of robot

bool	behindBall (Geometry2d::Point ballPos) const
	returns true if the position specified is behind the robot

std::optional< Eigen::Quaternionf >	quaternion () const

const RobotConstraints &	robotConstraints () const

RobotConstraints &	robotConstraints ()

const MotionConstraints &	motionConstraints () const

MotionConstraints &	motionConstraints ()

const Planning::RotationCommand &	rotationCommand () const

const Planning::Path &	path ()
	Returns a const reference to the path of the robot.

void	resetForNextIteration ()
	clears old radioTx stuff, resets robot debug text, and clears local obstacles

void	resetMotionConstraints ()
	clears all fields in the robot's MotionConstraints object, causing the robot to stop

void	stop ()
	Stop the robot.

void	lineKick (Geometry2d::Point target)
	Makes this robot execute a lineKick. More...

void	intercept (Geometry2d::Point target)
	Intercept the ball as quickly as possible May just slam into the ball if it does not have time to stop. More...

void	move (Geometry2d::Point goal, Geometry2d::Point endVelocity=Geometry2d::Point())
	Move to a given point using the default RRT planner. More...

void	moveDirect (Geometry2d::Point goal, float endSpeed=0)
	Move to a given point bypassing the RRT Path planner. More...

void	moveTuning (Geometry2d::Point goal, float endSpeed=0)
	Move to a given point while breaking everything. More...

void	settle (std::optional< Geometry2d::Point > target)
	Move in front of the ball to intercept it. More...

void	collect ()
	Approaches the ball and moves through it slowly.

void	worldVelocity (Geometry2d::Point targetWorldVel)
	Sets the worldVelocity in the robot's MotionConstraints.

void	face (Geometry2d::Point pt)
	Face a point while remaining in place.

bool	isFacing ()
	Returns true if the robot currently has a face command.

void	faceNone ()
	Remove the facing command.

void	pivot (Geometry2d::Point pivotTarget)
	The robot pivots around it's mouth toward the given target.

void	dribble (uint8_t speed)

void	kick (float strength)
	KICKING/CHIPPING. More...

void	kickLevel (uint8_t strength)
	enable kick when ready at a given strength (0-255)

void	chip (float strength)
	enable chip when ready at a given percentage of the currently set max chip power. More...

void	chipLevel (uint8_t strength)
	enable chip when ready at a given strength (0-255)

void	unkick ()
	Undoes any calls to kick() or chip().

RJ::Timestamp	lastKickTime () const

bool	justKicked ()
	checks if the bot has kicked/chipped very recently.

std::string	getCmdText () const
	Gets a string representing the series of commands called on the robot this iteration. More...

void	kickImmediately ()
	ignore ball sense and kick immediately

bool	avoidOpponents () const

void	avoidOpponents (bool enable)

void	disableAvoidBall ()

void	avoidBallRadius (float radius)

float	avoidBallRadius () const

void	resetAvoidBall ()

void	resetAvoidRobotRadii ()

void	localObstacles (const std::shared_ptr< Geometry2d::Shape > &obs)
	Adds an obstacle to the local set of obstacles for avoidance Cleared after every frame.

const Geometry2d::ShapeSet &	localObstacles () const

void	clearLocalObstacles ()

std::vector< Planning::DynamicObstacle >	collectDynamicObstacles ()

Geometry2d::ShapeSet	collectStaticObstacles (const Geometry2d::ShapeSet &globalObstacles, bool localObstacles=true)

Geometry2d::ShapeSet	collectAllObstacles (const Geometry2d::ShapeSet &globalObstacles)

void	approachAllOpponents (bool enable=true)

void	avoidAllOpponents (bool enable=true)

bool	avoidOpponent (unsigned shell_id) const
	checks if opponents are avoided at all

bool	approachOpponent (unsigned shell_id) const

float	avoidOpponentRadius (unsigned shell_id) const
	returns the avoidance radius

void	avoidAllOpponentRadius (float radius)
	returns the avoidance radius

void	avoidOpponent (unsigned shell_id, bool enable_avoid)
	enable/disable for opponent avoidance

void	approachOpponent (unsigned shell_id, bool enable_approach)
	enable/disable approach of opponents - diable uses larger avoidance radius

void	avoidOpponentRadius (unsigned shell_id, float radius)

Geometry2d::Point	mouthCenterPos () const

bool	chipper_available () const
	status evaluations for choosing robots in behaviors - combines multiple checks

bool	kicker_available () const

bool	dribbler_available () const

bool	driving_available (bool require_all=true) const

bool	hasBall () const

bool	hasBallRaw () const

bool	ballSenseWorks () const

bool	kickerWorks () const

float	kickerVoltage () const

Packet::HardwareVersion	hardwareVersion () const

void	setRadioRx (Packet::RadioRx packet)

Packet::RadioRx	radioRx () const

const std::unique_ptr< Planning::MotionCommand > &	motionCommand () const

const RotationConstraints &	rotationConstraints () const

RotationConstraints &	rotationConstraints ()

MotionControl *	motionControl () const

SystemState *	state () const

bool	rxIsFresh (RJ::Seconds age=RJ::Seconds(0.5)) const

void	sing (Packet::Control::Song song=Packet::Control::FIGHT_SONG)
	start the robot playing a song More...

double	distanceToChipLanding (int chipPower)

uint8_t	chipPowerForDistance (double distance)

void	setPath (std::unique_ptr< Planning::Path > path)

void	setPlanningPriority (int8_t priority)
	Sets the priority which paths are planned. More...

int8_t	getPlanningPriority ()
	Gets the priority which paths are planned. More...

void	setPID (double p, double i, double d)

Public Member Functions inherited from Robot
	Robot (unsigned int shell, bool self)

unsigned int	shell () const
	ID number for the robot. More...

bool	self () const
	Check whether or not this robot is on our team.

bool	operator== (const Robot &other)

std::string	toString () const

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

Public Attributes
Packet::Robot	robotPacket
	radio packets

Packet::Control *	control

RobotConfig *	config

RobotStatus *	status

boost::ptr_vector< Packet::DebugText >	robotText

bool	isPenaltyKicker = false

bool	isBallPlacer = false

Public Attributes inherited from RobotPose
bool	visible

bool	velValid

Geometry2d::Point	pos

Geometry2d::Point	vel

double	angle
	angle in radians. 0 radians means the robot is aimed along the x-axis

double	angleVel

RJ::Time	time
	angular velocity in radians/sec

Protected Member Functions
template<class ROBOT >
Geometry2d::ShapeSet	createRobotObstacles (const std::vector< ROBOT *> &robots, const RobotMask &mask) const
	latest path More...

template<class ROBOT >
Geometry2d::ShapeSet	createRobotObstacles (const std::vector< ROBOT *> &robots, const RobotMask &mask, Geometry2d::Point currentPosition, float checkRadius) const
	Only adds obstacles within the checkRadius of the passed in position Creates a set of obstacles from a given robot team mask, where mask values < 0 create no obstacle, and larger values create an obstacle of a given radius. More...

std::shared_ptr< Geometry2d::Circle >	createBallObstacle () const
	Creates an obstacle for the ball if necessary.

void	radioRxUpdated ()
	The processor mutates RadioRx in place and calls this afterwards to let it know that it changed.

Protected Attributes
MotionControl *	_motionControl

Context *const	_context

Geometry2d::ShapeSet	_local_obstacles
	set of obstacles added by plays

RobotMask	_opp_avoid_mask
	masks for obstacle avoidance

float	_avoidBallRadius

std::unique_ptr< Planning::MotionCommand >	_motionCommand
	radius of ball obstacle

std::unique_ptr< Planning::RotationCommand >	_rotationCommand

RobotConstraints	_robotConstraints

Planning::AngleFunctionPath	angleFunctionPath

Friends
class	Processor

class	MotionControl

Detailed Description

A robot on our team.

This extends Robot and provides methods for interacting with our robots. A few things this class is responsible for:

specifying target position, velocity, angle, etc
kicking and chipping the ball
keeping track of which hardware revision this bot is
avoidance of the ball and other robots (this info is fed to the path planner)
playing the GT fight song

Inheritance diagram for OurRobot:

Collaboration diagram for OurRobot:

Constructor & Destructor Documentation

◆ OurRobot()

OurRobot::OurRobot	(	int	shell,
		Context *const	context
	)

Construct a new OurRobot.

Parameters

shell	The robot ID
state	A pointer to the global system state object

Member Function Documentation

◆ approachOpponent()

bool OurRobot::approachOpponent ( unsigned shell_id ) const

Returns: true if we are able to approach the given opponent

◆ chip()

void OurRobot::chip ( float strength )

enable chip when ready at a given percentage of the currently set max chip power.

Parameters

strength a value between 0 and 1

◆ createRobotObstacles() [1/2]

template<class ROBOT >

Geometry2d::ShapeSet OurRobot::createRobotObstacles	(	const std::vector< ROBOT *> &	robots,
		const RobotMask &	mask
	)		const

inlineprotected

latest path

Creates a set of obstacles from a given robot team mask, where mask values < 0 create no obstacle, and larger values create an obstacle of a given radius

NOTE: mask must not be set for this robot

Parameters

robots is the set of robots to use to create a mask - either self or opp from _state

◆ createRobotObstacles() [2/2]

template<class ROBOT >

Geometry2d::ShapeSet OurRobot::createRobotObstacles	(	const std::vector< ROBOT *> &	robots,
		const RobotMask &	mask,
		Geometry2d::Point	currentPosition,
		float	checkRadius
	)		const

inlineprotected

Only adds obstacles within the checkRadius of the passed in position Creates a set of obstacles from a given robot team mask, where mask values < 0 create no obstacle, and larger values create an obstacle of a given radius.

NOTE: mask must not be set for this robot

Parameters

robots is the set of robots to use to create a mask - either self or opp from _state

◆ getCmdText()

std::string OurRobot::getCmdText ( ) const

Gets a string representing the series of commands called on the robot this iteration.

Contains face(), move(), etc - used to display in the BehaviorTree tab in soccer

◆ getPlanningPriority()

int8_t OurRobot::getPlanningPriority ( )

inline

Gets the priority which paths are planned.

Higher priority values are planned first.

◆ intercept()

void OurRobot::intercept ( Geometry2d::Point target )

Intercept the ball as quickly as possible May just slam into the ball if it does not have time to stop.

Parameters

target - The target position to intercept the ball at

◆ kick()

void OurRobot::kick ( float strength )

KICKING/CHIPPING.

When we call kick() or chip(), it doesn't happen immediately. It primes the kicker or chipper to kick at the designated power the next time the bot senses that it has the ball. Once this happens, we record the time of the actual kick. enable kick when ready at a given percentage of the currently set max kick power.

Parameters

strength a value between 0 and 1

◆ lineKick()

void OurRobot::lineKick ( Geometry2d::Point target )

Makes this robot execute a lineKick.

Parameters

target - The target to kick towards (aiming point)

◆ move()

void OurRobot::move	(	Geometry2d::Point	goal,
		Geometry2d::Point	endVelocity = `Geometry2d::Point()`
	)

Move to a given point using the default RRT planner.

Parameters

endSpeed - the speed we should be going when we reach the end of the path

◆ moveDirect()

void OurRobot::moveDirect	(	Geometry2d::Point	goal,
		float	endSpeed = `0`
	)

Move to a given point bypassing the RRT Path planner.

This will plan a direct path ignoring all obstacles and the starting velocity

Parameters

endSpeed - the speed we should be going when we reach the end of the path

◆ moveTuning()

void OurRobot::moveTuning	(	Geometry2d::Point	goal,
		float	endSpeed = `0`
	)

Move to a given point while breaking everything.

Tells the robot it is already at the endpoint

Parameters

endSpeed - the speed we should be going when we reach the end of the path. I'm not even sure if this part makes any sense here.

◆ rxIsFresh()

bool OurRobot::rxIsFresh ( RJ::Seconds age = RJ::Seconds(0.5) ) const

Parameters

age	Time (in microseconds) that defines non-fresh

◆ setPlanningPriority()

void OurRobot::setPlanningPriority ( int8_t priority )

inline

Sets the priority which paths are planned.

Higher priority values are planned first.

◆ settle()

void OurRobot::settle ( std::optional< Geometry2d::Point > target )

Move in front of the ball to intercept it.

If a target face point is given, the robot will try to face in that direction when the ball hits

Parameters

target - the target point in which the robot will try to bounce the towards

◆ sing()

void OurRobot::sing ( Packet::Control::Song song = Packet::Control::FIGHT_SONG )

inline

start the robot playing a song

Parameters

song

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

soccer/Robot.hpp
soccer/Robot.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ OurRobot()

Member Function Documentation

◆ approachOpponent()

◆ chip()

◆ createRobotObstacles() [1/2]

◆ createRobotObstacles() [2/2]

◆ getCmdText()

◆ getPlanningPriority()

◆ intercept()

◆ kick()

◆ lineKick()

◆ move()

◆ moveDirect()

◆ moveTuning()

◆ rxIsFresh()

◆ setPlanningPriority()

◆ settle()

◆ sing()