WorldModelWrapper移行

Author: HansRobo

utility/crane_msg_wrappers/include/crane_msg_wrappers/world_model_wrapper.hpp

@@ -279,8 +279,6 @@ struct WorldModelWrapper
 
   Ball ball;
 
-  PlaySituationWrapper play_situation;
-
 private:
   class BallOwnerCalculator
   {

utility/crane_msg_wrappers/src/world_model_wrapper.cpp

@@ -82,8 +82,6 @@ WorldModelWrapper::WorldModelWrapper(rclcpp::Node & node)
 
 void WorldModelWrapper::update(const crane_msgs::msg::WorldModel & world_model)
 {
-  play_situation.update(world_model.play_situation);
-
   for (auto & our_robot : ours.robots) {
     our_robot->available = false;
   }
@@ -244,13 +242,15 @@ auto WorldModelWrapper::PointChecker::isPenaltyArea(const Point & p, double offs
 auto WorldModelWrapper::getBallPlacementTarget() const -> std::optional<Point>
 {
   if (
-    play_situation.getSituationCommandID() == crane_msgs::msg::PlaySituation::OUR_BALL_PLACEMENT or
-    play_situation.getSituationCommandID() ==
+    latest_msg.play_situation.command.value == crane_msgs::msg::PlaySituation::OUR_BALL_PLACEMENT or
+    latest_msg.play_situation.command.value ==
       crane_msgs::msg::PlaySituation::THEIR_BALL_PLACEMENT) {
-    return play_situation.placement_position;
-  } else {
-    return std::nullopt;
+    const auto designated_position = latest_msg.play_situation.referee_raw.designated_position;
+    if (not designated_position.empty()) {
+      return Point(designated_position.front().x / 1000., designated_position.front().y / 1000.);
+    }
   }
+  return std::nullopt;
 }
 
 auto WorldModelWrapper::getBallPlacementArea(const double offset) const -> std::optional<Capsule>