Fixed conversations for code style

RoboJackets · Mar 4, 2024 · d931867 · d931867
1 parent 058ae25
commit d931867
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Showing 4 changed files with 34 additions and 27 deletions.
diff --git a/soccer/src/soccer/strategy/agent/position/defense.cpp b/soccer/src/soccer/strategy/agent/position/defense.cpp
@@ -2,7 +2,7 @@
 
 namespace strategy {
 
-Defense::Defense(int r_id) : Position(r_id), marker_{static_cast<uint8_t>(r_id)} {
+Defense::Defense(int r_id) : Position(r_id), marker_{} {
     position_name_ = "Defense";
 }
 
@@ -38,8 +38,8 @@ Defense::State Defense::update_state() {
             // If a wall is already full,
             // Remove the robot with the highest ID from a wall
             // and make them a marker instead.
-            if (this->robot_id_ == *max_element(walling_robots_.begin(), walling_robots_.end()) &&
-                walling_robots_.size() > MAX_WALLERS) {
+            if (walling_robots_.size() > kMaxWallers && 
+                this->robot_id_ == *max_element(walling_robots_.begin(), walling_robots_.end())) {
                 send_leave_wall_request();
                 next_state = ENTERING_MARKING;
             }
@@ -73,7 +73,8 @@ Defense::State Defense::update_state() {
             }
             break;
         case ENTERING_MARKING:
-            int target_id = marker_.choose_target(world_state);
+            marker_.choose_target(world_state);
+            int target_id = marker_.get_target();
             if (target_id == -1) {
                 next_state = ENTERING_MARKING;
             } else {

diff --git a/soccer/src/soccer/strategy/agent/position/defense.hpp b/soccer/src/soccer/strategy/agent/position/defense.hpp
@@ -43,7 +43,7 @@ class Defense : public Position {
 private:
     int move_ct_ = 0;
 
-    static constexpr int MAX_WALLERS{3};
+    static constexpr int kMaxWallers {3};
 
     /**
      * @brief The derived_get_task method returns the task for the defensive robot

diff --git a/soccer/src/soccer/strategy/agent/position/marker.cpp b/soccer/src/soccer/strategy/agent/position/marker.cpp
@@ -1,11 +1,11 @@
 #include "marker.hpp"
 
 namespace strategy {
-Marker::Marker(u_int8_t robot_id) {}
+Marker::Marker() {}
 
 std::optional<RobotIntent> Marker::get_task(RobotIntent intent, const WorldState* world_state,
-                                            FieldDimensions field_dimensions) {
-    rj_geometry::Point targetPoint = world_state->get_robot(false, target).pose.position();
+                                            [[maybe_unused]] FieldDimensions field_dimensions) {
+    rj_geometry::Point targetPoint = world_state->get_robot(false, target_).pose.position();
     rj_geometry::Point ballPoint = world_state->ball.position;
     rj_geometry::Point targetToBall = (ballPoint - targetPoint).normalized(0.55f);
     planning::LinearMotionInstant goal{targetPoint + targetToBall, rj_geometry::Point{0.0, 0.0}};
@@ -14,31 +14,30 @@ std::optional<RobotIntent> Marker::get_task(RobotIntent intent, const WorldState
     return intent;
 }
 
-int Marker::choose_target(WorldState* ws) {
+void Marker::choose_target(const WorldState* ws) {
     // TODO: (James Vogt, github: jvogt23)
     // If we ever use multiple Markers, they should choose different
     // robots to track from each other. Logic for this operation must be
     // added because multiple markers currently mark the same robot.
-    for (int i = 0; i < 11; i++) {
-        if (std::fabs(ws->get_robot(false, i).pose.position().x()) < 2.5 &&
-            ws->get_robot(false, i).pose.position().y() < Y_BOUND &&
+    for (int i = 0; i < kNumShells; i++) {
+        if (std::fabs(ws->get_robot(false, i).pose.position().x()) < kMarkerFollowCutoff &&
+            ws->get_robot(false, i).pose.position().y() < kYBound &&
             (ws->ball.position - ws->get_robot(false, i).pose.position()).mag() > .25) {
-            target = i;
-            return i;
+            target_ = i;
+            return; 
         }
     }
-    target = -1;
-    return -1;
+    target_ = -1;
 }
 
-bool Marker::target_out_of_bounds(WorldState* ws) {
-    if (target == -1) return true;
-    if (ws->get_robot(false, target).pose.position().y() > Y_BOUND) {
-        target = -1;
+bool Marker::target_out_of_bounds(const WorldState* ws) {
+    if (target_ == -1) return true;
+    if (ws->get_robot(false, target_).pose.position().y() > kYBound) {
+        target_ = -1;
         return true;
     }
     return false;
 }
 
-int Marker::get_target() { return target; }
+int Marker::get_target() { return target_; }
 }  // namespace strategy
diff --git a/soccer/src/soccer/strategy/agent/position/marker.hpp b/soccer/src/soccer/strategy/agent/position/marker.hpp
@@ -17,18 +17,25 @@ namespace strategy {
  */
 class Marker : public RoleInterface {
 private:
-    int target{-1};
+    int target_{-1};
 
-    static constexpr double Y_BOUND{4.5};
+    static constexpr double kYBound{4.5};
+    //Constant - Avoid marking robots that are right on the edge of the field.
+    static constexpr double kMarkerFollowCutoff {2.5};
 
 public:
-    Marker(u_int8_t robot_id);
+    Marker();
     ~Marker() = default;
-    std::optional<RobotIntent> get_task(RobotIntent intent, const WorldState* const world_state,
+    Marker(const Marker& other) = default;
+    Marker(Marker&& other) = default;
+    Marker& operator=(const Marker& other) = default;
+    Marker& operator=(Marker&& other) = default;
+
+    std::optional<RobotIntent> get_task(RobotIntent intent, const WorldState* world_state,
                                         FieldDimensions field_dimensions) override;
 
-    int choose_target(WorldState* ws);
+    void choose_target(const WorldState* ws);
     int get_target();
-    bool target_out_of_bounds(WorldState* ws);
+    bool target_out_of_bounds(const WorldState* ws);
 };
 }  // namespace strategy