We will not have ball when we both teams are close to the ball

RoboTeamTwente · Jun 17, 2024 · b9f5fca · b9f5fca
1 parent 1fd0ade
commit b9f5fca
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/roboteam_ai/src/stp/evaluations/global/WeWillHaveBallGlobalEvaluation.cpp b/roboteam_ai/src/stp/evaluations/global/WeWillHaveBallGlobalEvaluation.cpp
@@ -6,13 +6,16 @@ namespace rtt::ai::stp::evaluation {
 uint8_t WeWillHaveBallGlobalEvaluation::metricCheck(const world::World* world, const Field*) const noexcept {
     auto& us = world->getWorld()->getUs();
     auto& them = world->getWorld()->getThem();
+    auto ballPosition = world->getWorld()->getBall()->get()->position;
 
     // If the opponent has no robot, we will get the ball
     if (them.empty()) return constants::FUZZY_TRUE;
 
     // If we have no bots, we will not get the ball
     if (us.empty()) return constants::FUZZY_FALSE;
 
+    if (world->getWorld()->getRobotClosestToBall(world::them)->get()->getPos().dist(ballPosition) < constants::ROBOT_RADIUS * 1.3 && world->getWorld()->getRobotClosestToBall(world::us)->get()->getPos().dist(ballPosition) < constants::ROBOT_RADIUS * 1.3) return false;
+
     // If any of our robots has the ball, we will get the ball
     if (std::any_of(us.begin(), us.end(), [](auto& robot) { return robot->hasBall(); })) return constants::FUZZY_TRUE;