ビルドエラー修正

ibis-ssl · Dec 1, 2024 · a637e44 · a637e44
1 parent 22f04b6
commit a637e44
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Showing 4 changed files with 10 additions and 14 deletions.
diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/attacker_skill_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/attacker_skill_planner.hpp
@@ -67,7 +67,7 @@ class AttackerSkillPlanner : public PlannerBase
       skill = std::make_shared<skills::Attacker>(base);
       return {our_frontier->robot->id};
     } else {
-      return
+      return {};
     }
   }
 };

diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/offensive_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/offensive_planner.hpp
@@ -32,26 +32,24 @@ class OffensivePlanner : public PlannerBase
 public:
   std::shared_ptr<skills::Attacker> attacker = nullptr;
 
-  COMPOSITION_PUBLIC explicit OffensivePlanner(
-    WorldModelWrapper::SharedPtr & world_model,
-    const ConsaiVisualizerWrapper::SharedPtr & visualizer)
-  : PlannerBase("Offensive", world_model, visualizer)
+  COMPOSITION_PUBLIC explicit OffensivePlanner(WorldModelWrapper::SharedPtr & world_model)
+  : PlannerBase("Offensive", world_model)
   {
   }
 
   std::pair<Status, std::vector<crane_msgs::msg::RobotCommand>> calculateRobotCommand(
     const std::vector<RobotIdentifier> & robots, PlannerContext & context) override
   {
-    std::string state_name(magic_enum::enum_name(skill->getCurrentState()));
+    std::string state_name(magic_enum::enum_name(attacker->getCurrentState()));
     visualizer->addCircle(
-      skill->commander().getRobot()->pose.pos, 0.3, 2, "red", "", 1.0, state_name);
+      attacker->commander().getRobot()->pose.pos, 0.3, 2, "red", "", 1.0, state_name);
     visualizer->addLine(
       world_model->ball.pos,
       world_model->ball.pos +
         world_model->ball.vel.normalized() * world_model->getBallDistanceHorizon(),
       3, "red", 0.5, "");
-    auto status = skill->run(visualizer);
-    return {static_cast<PlannerBase::Status>(status), {skill->getRobotCommand()}};
+    auto status = attacker->run();
+    return {static_cast<PlannerBase::Status>(status), {attacker->getRobotCommand()}};
   }
 
   auto getSelectedRobots(

diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/pass_receiver_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/pass_receiver_planner.hpp
@@ -37,10 +37,8 @@ class PassReceiverPlanner : public PlannerBase
 
   Point pass_target;
 
-  COMPOSITION_PUBLIC explicit PassReceiverPlanner(
-    WorldModelWrapper::SharedPtr & world_model,
-    const ConsaiVisualizerWrapper::SharedPtr & visualizer)
-  : PlannerBase("PassReceiver", world_model, visualizer)
+  COMPOSITION_PUBLIC explicit PassReceiverPlanner(WorldModelWrapper::SharedPtr & world_model)
+  : PlannerBase("PassReceiver", world_model)
   {
   }
 

diff --git a/session/crane_session_controller/src/crane_session_controller.cpp b/session/crane_session_controller/src/crane_session_controller.cpp
@@ -280,7 +280,7 @@ void SessionControllerComponent::request(
       const std::unordered_map<uint8_t, RobotRole> & prev_roles = *PlannerBase::robot_roles;
       auto [response, new_planner] = [&]() {
         auto planner = generatePlanner(p.session_name, world_model);
-        auto response = planner->doRobotSelect(req, prev_roles);
+        auto response = planner->doRobotSelect(req, prev_roles, planner_context);
         return std::make_pair(response, planner);
       }();