Made goalie line up with ball and kicker in penalty #2469
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automated style fixes Co-authored-by: franklin-yuan <franklin-yuan@users.noreply.github.com>
rishiso
requested changes
Jan 19, 2026
| // return this->field_dimensions_.our_goal_loc(); | ||
| // be smart | ||
| // find robot on their team closest to ball | ||
| std::vector<RobotState> const their_robots = last_world_state_->their_robots; |
Contributor
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No need to make a copy of their_robots. If you really want to keep this, make their_robots a reference.
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| rj_geometry::Point enemy_location; | ||
| rj_geometry::Point enemy_shooter_location; |
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Suggested change
| rj_geometry::Point enemy_location; | |
| rj_geometry::Point enemy_shooter_location; |
| rj_geometry::Point enemy_shooter_location; | ||
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| double closest_distance = std::numeric_limits<double>::infinity(); | ||
| RobotState curr_shooter; |
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curr_shooter can just store the enemy robot's position, no need to store the entire RobotState
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| // SPDLOG_INFO("botpos {} {}", enemy_shooter_location.x(), enemy_shooter_location.y()); | ||
| // SPDLOG_INFO("ballpos {} {}", ball_pos.x(), ball_pos.y()); | ||
| // SPDLOG_INFO("GOALX {}", field_dimensions_.goal_width()); | ||
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Suggested change
| // SPDLOG_INFO("botpos {} {}", enemy_shooter_location.x(), enemy_shooter_location.y()); | |
| // SPDLOG_INFO("ballpos {} {}", ball_pos.x(), ball_pos.y()); | |
| // SPDLOG_INFO("GOALX {}", field_dimensions_.goal_width()); |
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| // SPDLOG_INFO("enemy {}", goalie_pos_x); | ||
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| rj_geometry::Point goaliepose = {goalie_pos_x, goalie_pos_y}; | ||
| return goaliepose; |
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| // SPDLOG_INFO("enemy {}", goalie_pos_x); | |
| rj_geometry::Point goaliepose = {goalie_pos_x, goalie_pos_y}; | |
| return goaliepose; | |
| rj_geometry::Point goalie_pos{goalie_pos_x, goalie_pos_y}; | |
| return goalie_pos; |
To keep consistent with other uses
| (ball_pos.x() - enemy_shooter_location.x())) / | ||
| (ball_pos.y() - enemy_shooter_location.y()); | ||
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| goalie_pos_x = std::clamp(goalie_pos_x, -1 * field_dimensions_.goal_width() / 2, |
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Use the field_dimensions_.our_goal_segment() to make this easier for someone to understand
| // SPDLOG_INFO("GOALX {}", field_dimensions_.goal_width()); | ||
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| double goalie_pos_y = field_dimensions_.our_goal_loc().y(); | ||
| float goalie_pos_x = |
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Nit: use the built-in intersect functions for this
rishiso
reviewed
Jan 19, 2026
| State latest_state_ = IDLING; | ||
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| rj_geometry::Point penalty_location(); | ||
| rj_geometry::Point penalty_location(WorldState* world_state); |
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Nit: Consider passing in just the parts of the world_state you need instead of the entire thing
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Description
Made goalie line up with the ball and the closest enemy robot to the ball
Associated / Resolved Issue
Resolves #86b6ubvaq or ClickUp card
Design Documents
Link
Steps to Test
Test Case 1
Setup penalty, set goalie state to penalty
Expected result:
Goalie should move automatically between ball and opposing kicker
Key Files to Review
Group 1
Group 2
Review Checklist
(Optional) Sub-issues (for drafts)
Note: if you find yourself breaking this PR into many smaller features, it may make sense to break up the PR into logical units based on these features.