お掃除（すっきり〜）

ibis-ssl · Feb 21, 2024 · 277f4d0 · 277f4d0
1 parent acf79d1
commit 277f4d0
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Showing 4 changed files with 6 additions and 27 deletions.
diff --git a/crane_simple_ai/include/crane_commander.hpp b/crane_simple_ai/include/crane_commander.hpp
@@ -98,7 +98,6 @@ class ROSNode : public rclcpp::Node
   ROSNode() : Node("crane_commander")
   {
     world_model = std::make_shared<crane::WorldModelWrapper>(*this);
-    commander = std::make_shared<crane::RobotCommandWrapper>(0, world_model);
     visualizer = std::make_shared<crane::ConsaiVisualizerWrapper>(*this, "simple_ai");
     publisher_robot_commands =
       create_publisher<crane_msgs::msg::RobotCommands>("/control_targets", 10);

diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/marker_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/marker_planner.hpp
@@ -86,12 +86,9 @@ class MarkerPlanner : public PlannerBase
       selected_robots.push_back(selectable_robots[min_index]);
       skill_map.emplace(
         selectable_robots[min_index],
-        std::make_pair(
-          std::make_shared<RobotCommandWrapper>(selectable_robots[min_index], world_model),
-          std::make_shared<skills::Marker>(selectable_robots[min_index], world_model)));
-      skill_map[selectable_robots[min_index]].second->setParameter(
-        "marking_robot_id", enemy_robot->id);
-      skill_map[selectable_robots[min_index]].second->setParameter("mark_distance", 0.5);
+        std::make_shared<skills::Marker>(selectable_robots[min_index], world_model));
+      skill_map[selectable_robots[min_index]]->setParameter("marking_robot_id", enemy_robot->id);
+      skill_map[selectable_robots[min_index]]->setParameter("mark_distance", 0.5);
     }
 
     return selected_robots;
@@ -101,9 +98,7 @@ class MarkerPlanner : public PlannerBase
   // key: ID of our robot in charge, value: ID of the enemy marked robot
   std::unordered_map<uint8_t, uint8_t> marking_target_map;
 
-  std::unordered_map<
-    uint8_t, std::pair<std::shared_ptr<RobotCommandWrapper>, std::shared_ptr<skills::Marker>>>
-    skill_map;
+  std::unordered_map<uint8_t, std::shared_ptr<skills::Marker>> skill_map;
 };
 
 }  // namespace crane

diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp
@@ -28,12 +28,8 @@ class OurKickOffPlanner : public PlannerBase
 private:
   std::shared_ptr<skills::KickoffAttack> kickoff_attack;
 
-  std::shared_ptr<RobotCommandWrapper> attacker_command;
-
   std::shared_ptr<skills::KickoffSupport> kickoff_support;
 
-  std::shared_ptr<RobotCommandWrapper> supporter_command;
-
 public:
   COMPOSITION_PUBLIC explicit OurKickOffPlanner(
     WorldModelWrapper::SharedPtr & world_model, ConsaiVisualizerWrapper::SharedPtr visualizer)
@@ -83,9 +79,7 @@ class OurKickOffPlanner : public PlannerBase
       });
 
     kickoff_attack = std::make_shared<skills::KickoffAttack>(*best_attacker, world_model);
-    attacker_command = std::make_shared<RobotCommandWrapper>(*best_attacker, world_model);
     kickoff_support = std::make_shared<skills::KickoffSupport>(*best_supporter, world_model);
-    supporter_command = std::make_shared<RobotCommandWrapper>(*best_supporter, world_model);
 
     return {*best_attacker, *best_supporter};
   }

diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/skill_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/skill_planner.hpp
@@ -65,8 +65,6 @@ class GoalieSkillPlanner : public PlannerBase
 public:
   std ::shared_ptr<skills::Goalie> skill = nullptr;
 
-  std ::shared_ptr<RobotCommandWrapper> robot_command_wrapper = nullptr;
-
   COMPOSITION_PUBLIC explicit GoalieSkillPlanner(
     WorldModelWrapper ::SharedPtr & world_model, ConsaiVisualizerWrapper ::SharedPtr visualizer)
   : PlannerBase("Goalie", world_model, visualizer)
@@ -76,7 +74,7 @@ class GoalieSkillPlanner : public PlannerBase
   std ::pair<Status, std ::vector<crane_msgs ::msg ::RobotCommand>> calculateRobotCommand(
     const std ::vector<RobotIdentifier> & robots) override
   {
-    if (not skill or not robot_command_wrapper) {
+    if (not skill) {
       return {PlannerBase ::Status ::RUNNING, {}};
     } else {
       std ::vector<crane_msgs ::msg ::RobotCommand> robot_commands;
@@ -89,8 +87,6 @@ class GoalieSkillPlanner : public PlannerBase
     -> std ::vector<uint8_t> override
   {
     skill = std ::make_shared<skills ::Goalie>(world_model->getOurGoalieId(), world_model);
-    robot_command_wrapper =
-      std ::make_shared<RobotCommandWrapper>(world_model->getOurGoalieId(), world_model);
     return {world_model->getOurGoalieId()};
   }
 };
@@ -100,8 +96,6 @@ class BallPlacementSkillPlanner : public PlannerBase
 public:
   std ::shared_ptr<skills::SingleBallPlacement> skill = nullptr;
 
-  std ::shared_ptr<RobotCommandWrapper> robot_command_wrapper = nullptr;
-
   COMPOSITION_PUBLIC explicit BallPlacementSkillPlanner(
     WorldModelWrapper ::SharedPtr & world_model, ConsaiVisualizerWrapper ::SharedPtr visualizer)
   : PlannerBase("BallPlacement", world_model, visualizer)
@@ -111,7 +105,7 @@ class BallPlacementSkillPlanner : public PlannerBase
   std ::pair<Status, std ::vector<crane_msgs ::msg ::RobotCommand>> calculateRobotCommand(
     const std ::vector<RobotIdentifier> & robots) override
   {
-    if (not skill or not robot_command_wrapper) {
+    if (not skill) {
       return {PlannerBase ::Status ::RUNNING, {}};
     } else {
       if (auto target = world_model->getBallPlacementTarget(); target.has_value()) {
@@ -140,9 +134,6 @@ class BallPlacementSkillPlanner : public PlannerBase
       skill->setParameter("placement_x", target->x());
       skill->setParameter("placement_y", target->y());
     }
-
-    robot_command_wrapper =
-      std ::make_shared<RobotCommandWrapper>(selected_robots.front(), world_model);
     return {selected_robots.front()};
   }
 };