rj_gameplay.tactic.pass_tactic

Module Contents

Classes

State

Generic enumeration.

PassTactic

class rj_gameplay.tactic.pass_tactic.State

Bases: enum.Enum

Generic enumeration.

Derive from this class to define new enumerations.

INIT
ACTIVE
INIT_PASSER_CAPTURE
PASSER_CAPTURE
GET_RECEIVER
INIT_EXECUTE_PASS
EXECUTE_PASS
AWAIT_PASSER_KICK
PASS_IN_TRANSIT
INIT_AWAIT_RECEIVE
EXECUTE_RECEIVE
AWAIT_RECEIVE
DONE
class rj_gameplay.tactic.pass_tactic.PassTactic(world_state: stp.rc.WorldState, init_passer_cost: stp.role.CostFn, init_receiver_cost: stp.role.CostFn)

Bases: stp.tactic.Tactic

init_roles(self, world_state: stp.rc.WorldState) None
tick(self, world_state: stp.rc.WorldState) List[Tuple[int, rj_msgs.msg.RobotIntent]]
FSM
  • init: request passer

  • on filled req: init_roles > tick passer’s capture

  • when passer ready to pass: request receiver

  • on filled req: init_roles > tick passer pass

  • on ball passed: tick receiver, release passer role

  • when receiver done: done

property needs_assign(self)
is_done(self, world_state: stp.rc.WorldState) bool