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キーパーを除去 #686

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merged 3 commits into from
Jan 11, 2025
+25 −10
Merged

キーパーを除去 #686

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23c3904
goalie_idをTeamInfoクラスへ
HansRobo Jan 11, 2025
6e87dfe
getAvailableRobotIdsにキーパー回避設定を追加
HansRobo Jan 11, 2025
6884e07
キーパーにパスしないで！！！！！
HansRobo Jan 11, 2025
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getAvailableRobotIdsにキーパー回避設定を追加
@HansRobo
HansRobo committed Jan 11, 2025
commit 6e87dfe07edc6b5b7a50280c3b4fe3c5e4b1c115
21 changes: 16 additions & 5 deletions utility/crane_msg_wrappers/include/crane_msg_wrappers/world_model_wrapper.hpp
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Original file line number Diff line number Diff line change
@@ -41,17 +41,28 @@ struct TeamInfo

uint8_t goalie_id;

[[nodiscard]] auto getAvailableRobots(uint8_t my_id = 255, bool except_goalie = false) const
-> RobotList
{
return robots | ranges::views::filter([my_id](const auto & robot) {
return robot->available && robot->id != my_id;
return robots | ranges::views::filter([&](const auto & robot) {
if (except_goalie) {
return robot->available && robot->id != my_id && robot->id != goalie_id;
} else {
return robot->available && robot->id != my_id;
}
}) |
ranges::to<std::vector>();
}

[[nodiscard]] auto getAvailableRobotIds(uint8_t my_id = 255) const -> std::vector<uint8_t>
[[nodiscard]] auto getAvailableRobotIds(uint8_t my_id = 255, bool except_goalie = false) const
-> std::vector<uint8_t>
{
return robots | ranges::views::filter([my_id](const auto & robot) {
return robot->available && robot->id != my_id;
return robots | ranges::views::filter([&](const auto & robot) {
if (except_goalie) {
return robot->available && robot->id != my_id && robot->id != goalie_id;
} else {
return robot->available && robot->id != my_id;
}
}) |
ranges::views::transform([](const auto & robot) { return robot->id; }) |
ranges::to<std::vector>();