キーパーを除去

crane_robot_skills/src/attacker.cpp

@@ -211,7 +211,7 @@ Attacker::Attacker(RobotCommandWrapperBase::SharedPtr & base)
       return false;
     }
 
-    auto our_robots = world_model()->ours.getAvailableRobots(robot()->id);
+    auto our_robots = world_model()->ours.getAvailableRobots(robot()->id, true);
     const auto enemy_robots = world_model()->theirs.getAvailableRobots();
     // TODO(HansRobo): しっかりパス先を選定する
     //    int receiver_id = getParameter<int>("receiver_id");
@@ -400,7 +400,7 @@ Attacker::Attacker(RobotCommandWrapperBase::SharedPtr & base)
 
 std::shared_ptr<RobotInfo> Attacker::selectPassReceiver()
 {
-  auto our_robots = world_model()->ours.getAvailableRobots(robot()->id);
+  auto our_robots = world_model()->ours.getAvailableRobots(robot()->id, true);
   const auto enemy_robots = world_model()->theirs.getAvailableRobots();
   double best_score = 0.0;
   std::shared_ptr<RobotInfo> best_bot = nullptr;

utility/crane_msg_wrappers/include/crane_msg_wrappers/world_model_wrapper.hpp

@@ -39,18 +39,30 @@ struct TeamInfo
 
   uint32_t max_allowed_bots;
 
-  [[nodiscard]] auto getAvailableRobots(uint8_t my_id = 255) const -> RobotList
+  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>();
@@ -207,9 +219,9 @@ struct WorldModelWrapper
   // rule 8.4.3
   [[nodiscard]] auto getBallPlacementArea(double offset = 0.) const -> std::optional<Capsule>;
 
-  [[nodiscard]] auto getOurGoalieId() const { return latest_msg.our_goalie_id; }
+  [[nodiscard]] auto getOurGoalieId() const { return ours.goalie_id; }
 
-  [[nodiscard]] auto getTheirGoalieId() const { return latest_msg.their_goalie_id; }
+  [[nodiscard]] auto getTheirGoalieId() const { return theirs.goalie_id; }
 
   /**
    *

utility/crane_msg_wrappers/src/world_model_wrapper.cpp

@@ -130,6 +130,9 @@ void WorldModelWrapper::update(const crane_msgs::msg::WorldModel & world_model)
     }
   }
 
+  ours.goalie_id = world_model.our_goalie_id;
+  theirs.goalie_id = world_model.their_goalie_id;
+
   field_size << world_model.field_info.x, world_model.field_info.y;
   penalty_area_size << world_model.penalty_area_size.x, world_model.penalty_area_size.y;