Merge branch 'development' into fix/defendShotIssues

RoboTeamTwente · Jan 20, 2022 · 71d0128 · 71d0128
2 parents 2b525d9 + 03a75a9
commit 71d0128
Show file tree

Hide file tree

Showing 7 changed files with 18 additions and 17 deletions.
diff --git a/src/ApplicationManager.cpp b/src/ApplicationManager.cpp
@@ -55,7 +55,7 @@ void ApplicationManager::start() {
     /// This play is only used for testing purposes, when needed uncomment this play!
     // plays.emplace_back(std::make_unique<rtt::ai::stp::TestPlay>());
 
-    //plays.emplace_back(std::make_unique<rtt::ai::stp::play::AttackingPass>());
+    // plays.emplace_back(std::make_unique<rtt::ai::stp::play::AttackingPass>());
     plays.emplace_back(std::make_unique<rtt::ai::stp::play::Attack>());
     plays.emplace_back(std::make_unique<rtt::ai::stp::play::Halt>());
     plays.emplace_back(std::make_unique<rtt::ai::stp::play::DefendShot>());
@@ -64,20 +64,20 @@ void ApplicationManager::start() {
     plays.emplace_back(std::make_unique<rtt::ai::stp::play::AggressiveStopFormation>());
     plays.emplace_back(std::make_unique<rtt::ai::stp::play::BallPlacementUs>());
     plays.emplace_back(std::make_unique<rtt::ai::stp::play::BallPlacementThem>());
-    //plays.emplace_back(std::make_unique<rtt::ai::stp::play::TimeOut>());
-    //plays.emplace_back(std::make_unique<rtt::ai::stp::play::PenaltyThemPrepare>());
-    //plays.emplace_back(std::make_unique<rtt::ai::stp::play::PenaltyUsPrepare>());
-    //plays.emplace_back(std::make_unique<rtt::ai::stp::play::PenaltyThem>());
-    //plays.emplace_back(std::make_unique<rtt::ai::stp::play::PenaltyUs>());
+    // plays.emplace_back(std::make_unique<rtt::ai::stp::play::TimeOut>());
+    // plays.emplace_back(std::make_unique<rtt::ai::stp::play::PenaltyThemPrepare>());
+    // plays.emplace_back(std::make_unique<rtt::ai::stp::play::PenaltyUsPrepare>());
+    // plays.emplace_back(std::make_unique<rtt::ai::stp::play::PenaltyThem>());
+    // plays.emplace_back(std::make_unique<rtt::ai::stp::play::PenaltyUs>());
     plays.emplace_back(std::make_unique<rtt::ai::stp::play::KickOffUsPrepare>());
     plays.emplace_back(std::make_unique<rtt::ai::stp::play::KickOffThemPrepare>());
-    //plays.emplace_back(std::make_unique<rtt::ai::stp::play::FreeKickThem>());
+    // plays.emplace_back(std::make_unique<rtt::ai::stp::play::FreeKickThem>());
     plays.emplace_back(std::make_unique<rtt::ai::stp::play::KickOffUs>());
     plays.emplace_back(std::make_unique<rtt::ai::stp::play::KickOffThem>());
-    //plays.emplace_back(std::make_unique<rtt::ai::stp::play::GetBallPossession>());
-    //plays.emplace_back(std::make_unique<rtt::ai::stp::play::GetBallRisky>());
-    //plays.emplace_back(std::make_unique<rtt::ai::stp::play::ReflectKick>());
-    //plays.emplace_back(std::make_unique<rtt::ai::stp::play::GenericPass>());
+    // plays.emplace_back(std::make_unique<rtt::ai::stp::play::GetBallPossession>());
+    // plays.emplace_back(std::make_unique<rtt::ai::stp::play::GetBallRisky>());
+    // plays.emplace_back(std::make_unique<rtt::ai::stp::play::ReflectKick>());
+    // plays.emplace_back(std::make_unique<rtt::ai::stp::play::GenericPass>());
     playChecker.setPlays(plays);
 
     int amountOfCycles = 0;

diff --git a/src/control/positionControl/BBTrajectories/Trajectory2D.cpp b/src/control/positionControl/BBTrajectories/Trajectory2D.cpp
@@ -3,10 +3,11 @@
 //
 
 #include "control/positionControl/BBTrajectories/Trajectory2D.h"
-#include "control/positionControl/BBTrajectories/BBTrajectory2D.h"
 
 #include <cmath>
 
+#include "control/positionControl/BBTrajectories/BBTrajectory2D.h"
+
 namespace rtt {
 
 Trajectory2D::Trajectory2D(const Vector2 &initialPos, const Vector2 &initialVel, const Vector2 &finalPos, double maxVel, double maxAcc) {

diff --git a/src/stp/plays/offensive/Attack.cpp b/src/stp/plays/offensive/Attack.cpp
@@ -72,7 +72,7 @@ void Attack::calculateInfoForRoles() noexcept {
 }
 
 bool Attack::shouldEndPlay() noexcept {
-    return std::any_of(roles.begin(), roles.end(), [](const std::unique_ptr<Role>& role) {return  role != nullptr && role->getName() == "attacker" && role->finished();});
+    return std::any_of(roles.begin(), roles.end(), [](const std::unique_ptr<Role>& role) { return role != nullptr && role->getName() == "attacker" && role->finished(); });
 }
 
 const char* Attack::getName() { return "Attack"; }

diff --git a/src/stp/plays/referee_specific/BallPlacementUs.cpp b/src/stp/plays/referee_specific/BallPlacementUs.cpp
@@ -35,7 +35,8 @@ void BallPlacementUs::calculateInfoForRoles() noexcept {
     auto ballTarget = rtt::ai::GameStateManager::getRefereeDesignatedPosition();
 
     // Adjust placement position to be one robot radius away in the distance of movement
-    if (stpInfos["ball_placer"].getRobot()) ballTarget -= (world->getWorld()->get()->getBall()->get()->getPos() - stpInfos["ball_placer"].getRobot()->get()->getPos()).stretchToLength(control_constants::ROBOT_RADIUS);
+    if (stpInfos["ball_placer"].getRobot())
+        ballTarget -= (world->getWorld()->get()->getBall()->get()->getPos() - stpInfos["ball_placer"].getRobot()->get()->getPos()).stretchToLength(control_constants::ROBOT_RADIUS);
 
     stpInfos["ball_placer"].setPositionToMoveTo(ballTarget);
 

diff --git a/src/stp/tactics/passive/BlockBall.cpp b/src/stp/tactics/passive/BlockBall.cpp
@@ -62,7 +62,6 @@ Vector2 BlockBall::calculateTargetPosition(const world::view::BallView &ball, Ve
         default:
             distance = targetToBall.length() / 2;
             break;
-
     }
 
     // Do not get closer than 4 robot radii (to avoid collisions)

diff --git a/src/world/Robot.cpp b/src/world/Robot.cpp
@@ -24,7 +24,7 @@ Robot::Robot(std::unordered_map<uint8_t, proto::RobotFeedback> &feedback, const
         workingBallSensor = ai::Constants::ROBOT_HAS_WORKING_BALL_SENSOR(id);
     }
 
-    if (team == Team::us){
+    if (team == Team::us) {
         if (feedback.find(id) != feedback.end()) {
             updateFromFeedback(feedback[id]);
         }

diff --git a/src/world/views/RobotView.cpp b/src/world/views/RobotView.cpp
@@ -19,7 +19,7 @@ robot::Robot const *RobotView::operator->() const noexcept { return get(); }
 bool RobotView::hasBall(double maxDist, double maxAngle) const noexcept {
     // In the sim, we only use the ball sensor to determine if the robot has the ball
     // On the field, and for the enemies in the sim, we also use the camera to do so
-    return ((this->robotPtr->getTeam()==Team::them || SETTINGS.isSerialMode()) && hasBallAccordingToVision(maxDist, maxAngle)) || get()->ballSensorSeesBall();
+    return ((this->robotPtr->getTeam() == Team::them || SETTINGS.isSerialMode()) && hasBallAccordingToVision(maxDist, maxAngle)) || get()->ballSensorSeesBall();
 }
 
 Vector2 RobotView::getKicker() const noexcept {
-Original file line number
+Diff line change
@@ Expand Up @@
             default:
                 distance = targetToBall.length() / 2;
                 break;
         }
         // Do not get closer than 4 robot radii (to avoid collisions)
@@ Expand Down @@