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Fix Code Style On improved-free-kick-routine #2451

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Merged
FarkasJoseph merged 1 commit into from
Nov 5, 2025
Merged

Fix Code Style On improved-free-kick-routine #2451

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16 changes: 10 additions & 6 deletions src/rj_strategy/src/agent/position/free_kicker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,10 +25,12 @@ std::optional<RobotIntent> FreeKicker::derived_get_task(RobotIntent intent) {

double ball_width_offset = 0.025;
rj_geometry::Point const right_goal_post =
this->field_dimensions_.their_goal_loc() + rj_geometry::Point((this->field_dimensions_.goal_width() / 2.0) - ball_width_offset, 0.0);

this->field_dimensions_.their_goal_loc() +
rj_geometry::Point((this->field_dimensions_.goal_width() / 2.0) - ball_width_offset, 0.0);

rj_geometry::Point const left_goal_post =
this->field_dimensions_.their_goal_loc() - rj_geometry::Point((this->field_dimensions_.goal_width() / 2.0) - ball_width_offset, 0.0);
this->field_dimensions_.their_goal_loc() -
rj_geometry::Point((this->field_dimensions_.goal_width() / 2.0) - ball_width_offset, 0.0);

rj_geometry::Point best_shot = right_goal_post;
double best_distance = -1.0;
Expand All @@ -40,16 +42,18 @@ std::optional<RobotIntent> FreeKicker::derived_get_task(RobotIntent intent) {
double t = i / static_cast<double>(num_samples - 1);
rj_geometry::Point shot_target = left_goal_post + (right_goal_post - left_goal_post) * t;

double distance = std::abs((enemy_goalie_location - ball_position).cross(shot_target - ball_position)) /
(shot_target - ball_position).mag();
double distance =
std::abs((enemy_goalie_location - ball_position).cross(shot_target - ball_position)) /
(shot_target - ball_position).mag();

if (distance > best_distance) {
best_distance = distance;
best_shot = shot_target;
}
}

SPDLOG_INFO("Free Kicker {} shooting at point {}, {}", this->robot_id_, best_shot.x(), best_shot.y());
SPDLOG_INFO("Free Kicker {} shooting at point {}, {}", this->robot_id_, best_shot.x(),
best_shot.y());

planning::LinearMotionInstant target{best_shot};
auto line_kick_cmd = planning::MotionCommand{"line_kick", target};
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