rj_gameplay.role.striker

Module Contents

Classes

State

Generic enumeration.

StrikerRole

Grabs ball and shoots on goal. Should eventually be merged with some hybrid PassOrShoot role.

Attributes

OPPONENT_SPEED

KICK_SPEED

EFF_BLOCK_WIDTH

class rj_gameplay.role.striker.State

Bases: enum.Enum

Generic enumeration.

Derive from this class to define new enumerations.

INIT
CAPTURING
INIT_SHOOT
SHOOTING
KICK_DONE
rj_gameplay.role.striker.OPPONENT_SPEED = 1.5
rj_gameplay.role.striker.KICK_SPEED = 4.5
rj_gameplay.role.striker.EFF_BLOCK_WIDTH = 0.7
class rj_gameplay.role.striker.StrikerRole(robot: stp.rc.Robot)

Bases: stp.role.Role

Grabs ball and shoots on goal. Should eventually be merged with some hybrid PassOrShoot role.

tick(self, world_state: stp.rc.WorldState) rj_msgs.msg.RobotIntent
is_done(self, world_state: stp.rc.WorldState) bool
_blocker_margin(self, kick_origin: numpy.array, kick_target: numpy.array, kick_speed: float, blocker: stp.rc.Robot)
_kick_cost(self, point: numpy.array, kick_speed: float, kick_origin: numpy.array, world_state: stp.rc.WorldState)
_find_target_point(self, world_state: stp.rc.WorldState, kick_speed: float) numpy.ndarray