rj_gameplay.role.goalie_role

Module Contents

Classes

GoalieRole

Role to produce goalie behavior, which tracks the ball, moves to block if a shot on goal is taken, stays within the goalie box (generally), and clears ball away.

Functions

get_goalie_pt(→ numpy.ndarray)	Gives goalie a default location to track the ball from when it is not actively intercepting or capturing the ball.
get_block_pt(→ numpy.ndarray)

Attributes

MIN_WALL_RAD
GOALIE_PCT_TO_BALL
DIST_TO_FAST_KICK

rj_gameplay.role.goalie_role.MIN_WALL_RAD = 0

rj_gameplay.role.goalie_role.GOALIE_PCT_TO_BALL = 0.15

rj_gameplay.role.goalie_role.DIST_TO_FAST_KICK = 7

rj_gameplay.role.goalie_role.get_goalie_pt(world_state: stp.rc.WorldState) → numpy.ndarray

Gives goalie a default location to track the ball from when it is not actively intercepting or capturing the ball. :return numpy point

rj_gameplay.role.goalie_role.get_block_pt(world_state: stp.rc.WorldState, my_pos: numpy.ndarray) → numpy.ndarray

class rj_gameplay.role.goalie_role.GoalieRole(robot: stp.rc.Robot, brick=False)

Bases: stp.role.Role

Role to produce goalie behavior, which tracks the ball, moves to block if a shot on goal is taken, stays within the goalie box (generally), and clears ball away.

tick(world_state: stp.rc.WorldState) → rj_msgs.msg.RobotIntent

Handle behavior of Role by handling which Skill is ticked, and with what params. Return the RobotIntent returned from ticking a Skill.

is_done(world_state: stp.rc.WorldState) → bool

True if Role is done; False otherwise.