GetBallContactスキルを削除

Author: HansRobo

crane_robot_skills/include/crane_robot_skills/get_ball_contact.hpp

@@ -11,7 +11,6 @@
 #include <crane_robot_skills/skill_base.hpp>
 #include <memory>
 
-#include "get_ball_contact.hpp"
 #include "go_over_ball.hpp"
 #include "move_with_ball.hpp"
 #include "robot_command_as_skill.hpp"
@@ -38,8 +37,6 @@ class SingleBallPlacement
 private:
   std::shared_ptr<GoOverBall> go_over_ball;
 
-  std::shared_ptr<GetBallContact> get_ball_contact;
-
   std::shared_ptr<MoveWithBall> move_with_ball;
 
   std::shared_ptr<Sleep> sleep = nullptr;

crane_robot_skills/include/crane_robot_skills/single_ball_placement.hpp

@@ -11,7 +11,6 @@
 #include <crane_robot_skills/ball_nearby_positioner.hpp>
 #include <crane_robot_skills/emplace_robot.hpp>
 #include <crane_robot_skills/freekick_saver.hpp>
-#include <crane_robot_skills/get_ball_contact.hpp>
 #include <crane_robot_skills/go_over_ball.hpp>
 #include <crane_robot_skills/goal_kick.hpp>
 #include <crane_robot_skills/goalie.hpp>

crane_robot_skills/include/crane_robot_skills/skills.hpp

@@ -156,13 +156,8 @@ SingleBallPlacement::SingleBallPlacement(RobotCommandWrapperBase::SharedPtr & ba
   // 失敗の場合は最初に戻る
   addTransition(
     SingleBallPlacementStates::PULL_BACK_FROM_EDGE_TOUCH,
-    SingleBallPlacementStates::PULL_BACK_FROM_EDGE_PREPARE, [this]() {
-      if (not get_ball_contact) {
-        return false;
-      } else {
-        return skill_status == Status::FAILURE;
-      }
-    });
+    SingleBallPlacementStates::PULL_BACK_FROM_EDGE_PREPARE,
+    [this]() { return skill_status == Status::FAILURE; });
 
   // PULL_BACK_FROM_EDGE_PULL
   addStateFunction(SingleBallPlacementStates::PULL_BACK_FROM_EDGE_PULL, [this]() {
@@ -256,11 +251,6 @@ SingleBallPlacement::SingleBallPlacement(RobotCommandWrapperBase::SharedPtr & ba
       .fill("white")
       .fontSize(100);
     visualizer->add(text_builder.getSvgString());
-    //    if (not get_ball_contact) {
-    //      get_ball_contact = std::make_shared<GetBallContact>(command_base);
-    //    }
-    //
-    //    skill_status = get_ball_contact->run();
     command.disablePlacementAvoidance();
     command.disableBallAvoidance();
     command.setMaxVelocity(0.2);
@@ -410,7 +400,7 @@ void SingleBallPlacement::print(std::ostream & os) const
       go_over_ball->print(os);
       break;
     case CONTACT_BALL:
-      get_ball_contact->print(os);
+      os << " CONTACT_BALL";
       break;
     case MOVE_TO_TARGET:
       move_with_ball->print(os);

crane_robot_skills/src/get_ball_contact.cpp

@@ -70,7 +70,6 @@ CraneCommander::CraneCommander(QWidget * parent) : QMainWindow(parent), ui(new U
   setUpSkillDictionary<skills::CmdLookAt>();
   setUpSkillDictionary<skills::CmdLookAtBall>();
   setUpSkillDictionary<skills::CmdLookAtBallFrom>();
-  setUpSkillDictionary<skills::GetBallContact>();
   //  setUpSkillDictionary<skills::Idle>();
   setUpSkillDictionary<skills::Goalie>();
   setUpSkillDictionary<skills::GoalKick>();

crane_robot_skills/src/single_ball_placement.cpp

@@ -43,7 +43,6 @@ SimpleAIPlanner::SimpleAIPlanner(WorldModelWrapper::SharedPtr & world_model, rcl
     setUpSkillDictionary<skills::CmdLookAt>();
     setUpSkillDictionary<skills::CmdLookAtBall>();
     setUpSkillDictionary<skills::CmdLookAtBallFrom>();
-    setUpSkillDictionary<skills::GetBallContact>();
     setUpSkillDictionary<skills::Idle>();
     setUpSkillDictionary<skills::Goalie>();
     setUpSkillDictionary<skills::GoalKick>();