rj_gameplay.skill.move

Module Contents

Classes

Move	Atomic single-robot behavior, such as Move or PivotKick. Created and ticked by Tactics. Uses Actions to get RobotIntents.

class rj_gameplay.skill.move.Move(robot: stp.rc.Robot | None = None, target_point: numpy.ndarray = np.array([0.0, 0.0]), target_vel: numpy.ndarray = np.array([0.0, 0.0]), face_angle: float = None, face_point: numpy.ndarray = None, ignore_ball: bool = False, priority: int = 0)

Bases: stp.skill.Skill

Atomic single-robot behavior, such as Move or PivotKick. Created and ticked by Tactics. Uses Actions to get RobotIntents.

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: stp.rc.WorldState) → bool

True when skill is done; False otherwise.

__str__()

Return str(self).

__repr__() → str

Return repr(self).