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Fix Code Style On improved-free-kick-routine #2474

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Merged
FarkasJoseph merged 1 commit into from
Nov 24, 2025
Merged

Fix Code Style On improved-free-kick-routine #2474

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3 changes: 2 additions & 1 deletion src/rj_strategy/include/rj_strategy/agent/position/free_kicker.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,8 @@ class FreeKicker : public Position {

private:
std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;
double get_shot_dist_to_goalie(rj_geometry::Point const &goalie_pos, rj_geometry::Point const &shot_target);
double get_shot_dist_to_goalie(rj_geometry::Point const& goalie_pos,
rj_geometry::Point const& shot_target);
};

} // namespace strategy
19 changes: 9 additions & 10 deletions src/rj_strategy/src/agent/position/free_kicker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,10 +36,9 @@ std::optional<RobotIntent> FreeKicker::derived_get_task(RobotIntent intent) {
double const right_dist = get_shot_dist_to_goalie(enemy_goalie_location, right_goal_post);
rj_geometry::Point const best_shot = left_dist < right_dist ? right_goal_post : left_goal_post;


/*
LOGIC FOR PASSING WHEN SHOT TOO EXTREME (i.e. CORNER KICK)

double const shot_angle = abs((best_shot - this->last_world_state_->ball.position).angle());

if (shot_angle > 3 * M_PI / 4.0 ||
Expand All @@ -50,8 +49,8 @@ std::optional<RobotIntent> FreeKicker::derived_get_task(RobotIntent intent) {
return intent;
}

SPDLOG_INFO("Free Kicker {} shooting at point {}, {} with angle {}", this->robot_id_, best_shot.x(),
best_shot.y(), shot_angle);
SPDLOG_INFO("Free Kicker {} shooting at point {}, {} with angle {}", this->robot_id_,
best_shot.x(), best_shot.y(), shot_angle);
*/

planning::LinearMotionInstant target{best_shot};
Expand All @@ -76,10 +75,10 @@ void FreeKicker::derived_pass_ball() {}

void FreeKicker::derived_acknowledge_ball_in_transit() {}

double FreeKicker::get_shot_dist_to_goalie(rj_geometry::Point const &goalie_pos,
rj_geometry::Point const &shot_target) {
double FreeKicker::get_shot_dist_to_goalie(rj_geometry::Point const& goalie_pos,
rj_geometry::Point const& shot_target) {
rj_geometry::Point const ball_position = this->last_world_state_->ball.position;
return std::abs((goalie_pos - ball_position).cross(shot_target - ball_position)) /
(shot_target - ball_position).mag();
}
} // namespace strategy
return std::abs((goalie_pos - ball_position).cross(shot_target - ball_position)) /
(shot_target - ball_position).mag();
}
} // namespace strategy