デフェンスを増やし、Attackerを拠出することを許可

Author: HansRobo

session/crane_planner_plugins/src/total_defense_planner.cpp

@@ -238,6 +238,8 @@ auto TotalDefensePlanner::getSelectedRobots(
   }
 
   // TODO(HansRobo): Attackerを供出するかどうかの実装
+  remaining_robots |= ranges::actions::remove_if(
+    [&](auto elem) { return elem == world_model->getOurFrontier()->robot->id; });
 
   // 直接脅威へのディフェンダー
   Segment ball_line{world_model->goal, world_model->ball.pos};

session/crane_session_controller/config/play_situation/INPLAY.yaml

@@ -4,7 +4,7 @@ sessions:
   - name: emplace_robot
     capacity: 1
   - name: total_defense
-    capacity: 3
+    capacity: 4
   - name: attacker_skill
     capacity: 1
   - name: pass_receive