soccer_strategy.robot_controlled_2d.RobotControlled2D

class soccer_strategy.robot_controlled_2d.RobotControlled2D(robot_id=0, team=Team.UNKNOWN, role=Role.UNASSIGNED, status=Status.DISCONNECTED, position=None)[source]

Bases: RobotControlled

__init__(robot_id=0, team=Team.UNKNOWN, role=Role.UNASSIGNED, status=Status.DISCONNECTED, position=None)[source]

Initializes the robot structure

Parameters:

robot_id – Integer representing the robot’s id
team – Which team the robot is on
role – Which role on the field
status – What is the current status of the robot
position – X, Y position of the robot where Y is the short length of the field and X is the long length

Methods

`__init__`([robot_id, team, role, status, ...])	Initializes the robot structure
`can_kick`(ball, goal_position[, verbose])	Whether the robot can kick the ball based on the robot and ball position
`get_back_up`([type])	Send a command get back up, based on the get up type
`get_opponent_net_position`()
`get_robot_polygon`()
`kick`(kick_velocity)	Set's a kick velocity for the ball :param kick_velocity: Amount of strength for the kick :return:
`observe_ball`(ball)
`observe_obstacles`(robots)
`reset_initial_position`()	Set's the robot's position based on the amcl_pose :return:
`set_navigation_position`(goal_position)	Set's the robot's navigation position for the robot to go to :param goal_position: goal_position: [x, y, theta] of the robot's goal position
`shorten_navigation_position`(goal_position)	Limits the length of the navigation, for example a goal given 2 meters will return a goal determined by the shorten_navigation_limit parameter, if it is 1 then 1 meter max navigation limit :param goal_position: [x, y, theta] of the robot's goal position
`terminate_walk`()	Send a command to stop the robot's walking

Attributes

`BODY_LENGTH`
`BODY_WIDTH`

class Role(value)

Bases: IntEnum

An enumeration.

class Status(value)

Bases: IntEnum

An enumeration.

class Team(value)

Bases: IntEnum

An enumeration.

class TeamColor(value)

Bases: IntEnum

An enumeration.

can_kick(ball: Ball, goal_position, verbose=True)

Whether the robot can kick the ball based on the robot and ball position

Parameters:

ball – Ball object
goal_position – [x, y, theta] of the robot’s goal position

Returns:

True if the robot can kick the ball

abstract get_back_up(type: str = 'getupback'): Send a command get back up, based on the get up type

kick(kick_velocity)[source]: Set’s a kick velocity for the ball :param kick_velocity: Amount of strength for the kick :return:

abstract reset_initial_position(): Set’s the robot’s position based on the amcl_pose :return:

set_navigation_position(goal_position)[source]: Set’s the robot’s navigation position for the robot to go to :param goal_position: goal_position: [x, y, theta] of the robot’s goal position

shorten_navigation_position(goal_position): Limits the length of the navigation, for example a goal given 2 meters will return a goal determined by the shorten_navigation_limit parameter, if it is 1 then 1 meter max navigation limit :param goal_position: [x, y, theta] of the robot’s goal position

abstract terminate_walk(): Send a command to stop the robot’s walking