From e87e8e3e50dd0cfad1e8c34ad6e3f2d4dfb29271 Mon Sep 17 00:00:00 2001
From: petergarud <peter.garud04@gmail.com>
Date: Mon, 22 Jan 2024 02:18:10 +0000
Subject: [PATCH] fixed compiler error and targets 7/8 part of goal

---
 .../planner/line_kick_path_planner.cpp         | 18 +++++++++++++-----
 .../soccer/strategy/agent/position/offense.cpp |  3 +--
 2 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/soccer/src/soccer/planning/planner/line_kick_path_planner.cpp b/soccer/src/soccer/planning/planner/line_kick_path_planner.cpp
index f12219ffcf4..ad25d67a2ac 100644
--- a/soccer/src/soccer/planning/planner/line_kick_path_planner.cpp
+++ b/soccer/src/soccer/planning/planner/line_kick_path_planner.cpp
@@ -33,10 +33,18 @@ Trajectory LineKickPathPlanner::plan(const PlanRequest& plan_request) {
         average_ball_vel_ = apply_low_pass_filter(average_ball_vel_, ball.velocity, 0.8);
     }
 
-    // only process state transition if already started the planning
-    if (has_created_plan) {
-        process_state_transition();
-    }
+    // ShapeSet static_obstacles;
+    // std::vector<DynamicObstacle> dynamic_obstacles;
+    // fill_obstacles(plan_request, &static_obstacles, &dynamic_obstacles, false, nullptr);
+
+    // auto obstacles_with_ball = static_obstacles;
+    // const RJ::Time cur_time = start_instant.stamp;
+    // obstacles_with_ball.add(
+    //     make_shared<Circle>(ball.predict_at(cur_time).position, ball_avoid_distance));
+
+    // // only plan line kick if not is_done
+    // if (!this->is_done()) {
+    state_transition(ball, plan_request.start);
     switch (current_state_) {
         case INITIAL_APPROACH:
             prev_path_ = initial(plan_request);
@@ -46,8 +54,8 @@ Trajectory LineKickPathPlanner::plan(const PlanRequest& plan_request) {
             break;
     }
     prev_path_.stamp(RJ::now());
-    has_created_plan = true;
     return prev_path_;
+    // }
 }
 
 Trajectory LineKickPathPlanner::initial(const PlanRequest& plan_request) {
diff --git a/soccer/src/soccer/strategy/agent/position/offense.cpp b/soccer/src/soccer/strategy/agent/position/offense.cpp
index 2d97c3d851c..aa16db35643 100644
--- a/soccer/src/soccer/strategy/agent/position/offense.cpp
+++ b/soccer/src/soccer/strategy/agent/position/offense.cpp
@@ -140,8 +140,7 @@ std::optional<RobotIntent> Offense::state_to_task(RobotIntent intent) {
         return intent;
     } else if (current_state_ == SHOOTING) {
         rj_geometry::Point their_goal_pos = field_dimensions_.their_goal_loc();
-        rj_geometry::Point scoring_point =
-            their_goal_pos + field_dimensions_.goal_width() * 3.0 / 8.0;
+        rj_geometry::Point scoring_point = their_goal_pos + field_dimensions_.goal_width() * 3.0 / 8.0;
         planning::LinearMotionInstant target{scoring_point};
         auto line_kick_cmd = planning::MotionCommand{"line_kick", target};
         intent.motion_command = line_kick_cmd;