前進守備をやめる

ibis-ssl · Jan 15, 2025 · 1e421b4 · 1e421b4
1 parent 13306f4
commit 1e421b4
Showing 1 changed file with 1 addition and 10 deletions.
diff --git a/session/crane_planner_plugins/src/total_defense_planner.cpp b/session/crane_planner_plugins/src/total_defense_planner.cpp
@@ -49,16 +49,7 @@ TotalDefensePlanner::calculateRobotCommand(
     }
   }
 
-  std::vector<Point> defense_points = [&]() {
-    // フィールド横幅の半分よりボールが遠ければ円弧守備に移行
-    if (
-      world_model->getDistanceFromBall(world_model->getOurGoalCenter()) <
-      world_model->field_size.y() * 0.5) {
-      return getDefenseLinePoints(defender_robots.size(), ball_line);
-    } else {
-      return getDefenseArcPoints(defender_robots.size(), ball_line);
-    }
-  }();
+  std::vector<Point> defense_points = getDefenseLinePoints(defender_robots.size(), ball_line);
 
   if (not defense_points.empty()) {
     std::vector<Point> robot_points;