rj_gameplay.skill.pivot

Module Contents

Classes

Pivot

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

class rj_gameplay.skill.pivot.Pivot(robot: stp.rc.Robot = None, pivot_point: numpy.ndarray = None, target_point: numpy.ndarray = None, dribble_speed: float = 1.0, threshold: float = 0.05, priority: int = 1)

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.