rj_gameplay.skill.intercept
Module Contents
Classes
First third of a PassReceive Skill. Gets in front of moving ball. |
Attributes
- rj_gameplay.skill.intercept.SETTLE_BALL_SPEED_THRESHOLD = 1.0
- rj_gameplay.skill.intercept.INTERCEPT_ANGLE_THRESHOLD
- class rj_gameplay.skill.intercept.Intercept(robot: stp.rc.Robot = None)
Bases:
stp.skill.SkillFirst third of a PassReceive Skill. Gets in front of moving ball.
- get_intercept_pt(world_state: stp.rc.WorldState, my_robot: numpy.ndarray) numpy.ndarray
Gets the closest point on the linear trajectory of the ball to the intercepting robot Does this by projecting the ball to robot vector onto the subspace spanned by the ball’s velocity vector
- tick(world_state: stp.rc.WorldState) rj_msgs.msg.RobotIntent
Logic for Skill goes here. RobotIntents obtained via Actions.
robot state is updated through super call to this method (i.e. super().tick(world_state))
- .msg
- param world_state:
Current world state.
- return:
A single RobotIntent.
- is_done(world_state) bool
Check if the intercepting robot has the ball, or the ball is slow and the robot is on the path of the ball.
- __str__()
Return str(self).
- __repr__() str
Return repr(self).