void Coach::update(SSL_DetectionFrame newFrame)
{
//update memory
if(_memory.size() < 5) {
_memory.push_back(newFrame);
}
else {
_memory.push_back(newFrame);
_memory.erase(_memory.begin());
//update FieldState
fs.bBots.clear();
fs.yBots.clear();
fs.ball = Movable(newFrame.balls(0).x(), newFrame.balls(0).y(), 0, 0); //velocity calculated in analysis
for(int i = 0; i < _memory[4].robots_blue_size(); i++)
{
fs.bBots.push_back(Robot(_memory[4].robots_blue(i).robot_id(),
_memory[4].robots_blue(i).orientation(),
_memory[4].robots_blue(i).x(),
_memory[4].robots_blue(i).y()));
}
for(int i = 0; i < _memory[4].robots_yellow_size(); i++)
{
fs.yBots.push_back(Robot(_memory[4].robots_yellow(i).robot_id(),
_memory[4].robots_yellow(i).orientation(),
_memory[4].robots_yellow(i).x(),
_memory[4].robots_yellow(i).y()));
}
//call analysis to update velocity
Analysis();
}
}
TEST( expect, movable_expect_with_value )
{
auto expect = q::fulfill< Movable >( Movable( ) );
EXPECT_FALSE( expect.has_exception( ) );
EXPECT_EQ( expect.exception( ), std::exception_ptr( ) );
EXPECT_NO_THROW( expect.get( ) );
EXPECT_NO_THROW( expect.consume( ) );
}
Controlable::Controlable()
{
Movable();
control = NULL;
}
Movable MovableFactory(int i) {
return Movable(new int(i));
}
