stp.role

Subpackages

• stp.role.assignment
  • stp.role.assignment.naive

Submodules

• stp.role.constraint
• stp.role.cost

Package Contents

Classes

Role	Complex single-robot role, such as Goalie or Striker. Uses Skills to achieve behavior.
Priority	An enum to represent priority of the role assignment.
CostFn	Protocol for CostFn.
ConstraintFn	Protocol for ConstraintFn.
RoleRequest	Role Request.
RoleResult	The result of role assignment.

Functions

unconstrained_constraint_fn(→ bool)

An unconstrained constraint fn, ie it always returns True.

Attributes

BIG_STUPID_NUMBER_CONST_FOR_UNASSIGNED_COST_PLS_CHANGE

stp.role.BIG_STUPID_NUMBER_CONST_FOR_UNASSIGNED_COST_PLS_CHANGE = 9999

class stp.role.Role(robot: stp.rc.Robot)

Bases: abc.ABC

Complex single-robot role, such as Goalie or Striker. Uses Skills to achieve behavior.

property robot: stp.rc.Robot

Returns self._robot. @property allows the getter to be called like this:

some_role = ConcreteRole() some_robot = some_role.robot

abstract 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.

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

True if Role is done; False otherwise.

class stp.role.Priority

Bases: enum.IntEnum

An enum to represent priority of the role assignment.

LOW = 0

MEDIUM = 1

HIGH = 2

NUM_PRIORITIES = 3

class stp.role.CostFn

Bases: Protocol

Protocol for CostFn.

__call__(robot: stp.rc.Robot, world_state: stp.rc.WorldState) → float

Given a robot and the current world state, returns the cost of assigning that robot to a given role. :param robot: The current robot to check costs for. :param world_state: The current world state. :return:

unassigned_cost_fn(prev_results: RoleResult | None, world_state: stp.rc.WorldState) → float

Given the previous role assigment and current world state, returns the cost of not assigning any robot. :param prev_result: The previous role assignment result. :param world_state: The current world state. :return: cost of not assigning

class stp.role.ConstraintFn

Bases: Protocol

Protocol for ConstraintFn.

__call__(robot: stp.rc.Robot, prev_result: RoleResult | None, world_state: stp.rc.WorldState) → bool

Given a robot, the previous role assignment result, and the current world state, returns true if the assignment is valid. :param robot: The current robot to check costs for. :param prev_result: The previous role assignment result. :param world_state: The current world state. :return: True if the assignment is valid, false otherwise.

stp.role.unconstrained_constraint_fn(robot: stp.rc.Robot, prev_result: RoleResult | None, world_state: stp.rc.WorldState) → bool

An unconstrained constraint fn, ie it always returns True. :param robot: The current robot to check costs for. :param prev_result: The previous role assignment result. :param world_state: The current world state. :return: True.

class stp.role.RoleRequest(priority: Priority, required: bool, cost_fn: CostFn, constraint_fn: ConstraintFn = unconstrained_constraint_fn)

Role Request.

__slots__ = ['priority', 'required', 'cost_fn', 'constraint_fn']

priority: Priority

required: bool

cost_fn: CostFn

constraint_fn: ConstraintFn

with_priority(priority: Priority) → RoleRequest

Builder style method that modifies the priority and returns the current instance. :param priority: The priority to set the RoleRequest to. :return: self.

with_required(required: bool) → RoleRequest

Builder style method that modifies required and returns the current instance. :param required: Whether the tactic will fail if this RoleRequest is not fulfilled. :return: self.

with_cost_fn(cost_fn: CostFn) → RoleRequest

Builder style method that modifies the cost function and returns the current instance. :param cost_fn: The new cost function to use. :return: self.

with_constraint_fn(constraint_fn: ConstraintFn) → RoleRequest

Builder style method that modifies the cost function and returns the current instance. :param constraint_fn: The new constraint function to use. :return: self.

__str__() → str

Return str(self).

__repr__() → str

Return repr(self).

class stp.role.RoleResult(request: RoleRequest, cost: float, role: Role)

The result of role assignment.

__slots__ = ['request', 'cost', 'role']

request: RoleRequest

cost: float

role: Role

is_filled() → bool

Returns true if the role request is filled. :return: True if the role request is filled.

assign(robot: stp.rc.Robot, cost: float) → None

Assigns self.role to the passed in robot, updating self.cost to the assignment cost. :param robot: Robot to use for the role. :param cost: The cost of the assignment.

classmethod from_request(request: RoleRequest) → RoleResult

Creates an unfilled RoleResult from a RoleRequest.

__str__() → str

Return str(self).

__repr__() → str

Return repr(self).