pass a reference

soccer/src/soccer/planning/global_state.cpp

@@ -74,9 +74,9 @@ GlobalState::GlobalState(rclcpp::Node* node) {
     auto lock = std::lock_guard(last_world_state_mutex_);
     return &last_world_state_;
 }
-[[nodiscard]] FieldDimensions GlobalState::field_dimensions() const {
+[[nodiscard]] const FieldDimensions* GlobalState::field_dimensions() const {
     auto lock = std::lock_guard(last_field_dimensions_mutex_);
-    return last_field_dimensions_;
+    return &last_field_dimensions_;
 }
 
 rj_geometry::ShapeSet GlobalState::create_defense_area_obstacles() {

soccer/src/soccer/planning/global_state.hpp

@@ -34,7 +34,7 @@ class GlobalState {
     [[nodiscard]] rj_geometry::ShapeSet global_obstacles() const;
     [[nodiscard]] rj_geometry::ShapeSet def_area_obstacles() const;
     [[nodiscard]] const WorldState* world_state() const;
-    [[nodiscard]] FieldDimensions field_dimensions() const;
+    [[nodiscard]] const FieldDimensions* field_dimensions() const;
 
 private:
     rclcpp::Subscription<rj_msgs::msg::PlayState>::SharedPtr play_state_sub_;

soccer/src/soccer/planning/planner/plan_request.hpp

@@ -30,7 +30,7 @@ struct PlanRequest {
                 RobotConstraints constraints, rj_geometry::ShapeSet field_obstacles,
                 rj_geometry::ShapeSet virtual_obstacles, TrajectoryCollection* planned_trajectories,
                 unsigned shell_id, const WorldState* world_state, PlayState play_state,
-                FieldDimensions field_dimensions, int8_t priority = 0,
+                const FieldDimensions* field_dimensions, int8_t priority = 0,
                 rj_drawing::RosDebugDrawer* debug_drawer = nullptr, bool ball_sense = false,
                 float min_dist_from_ball = 0, float dribbler_speed = 0)
         : start(start),
@@ -107,7 +107,7 @@ struct PlanRequest {
     /**
      * the Field Dimensions
      */
-    FieldDimensions field_dimensions;
+    const FieldDimensions* field_dimensions;
 
     /**
      * Allows debug drawing in the world. If this is nullptr, no debug drawing

soccer/src/soccer/planning/primitives/create_path.cpp

@@ -81,7 +81,7 @@ Trajectory intermediate(const LinearMotionInstant& start, const LinearMotionInst
                         const MotionConstraints& motion_constraints, RJ::Time start_time,
                         const rj_geometry::ShapeSet& static_obstacles,
                         const std::vector<DynamicObstacle>& dynamic_obstacles,
-                        const FieldDimensions field_dimensions, unsigned int robot_id) {
+                        const FieldDimensions* field_dimensions, unsigned int robot_id) {
     // if already on goal, no need to move
     if (start.position.dist_to(goal.position) < 1e-6) {
         return Trajectory{{RobotInstant{Pose(start.position, 0), Twist(), start_time}}};
@@ -111,13 +111,13 @@ Trajectory intermediate(const LinearMotionInstant& start, const LinearMotionInst
             rj_geometry::Point intermediate =
                 (final_inter - start.position).normalized(t) + start.position;
 
-            auto offset = intermediate - field_dimensions.center_point();
+            auto offset = intermediate - field_dimensions->center_point();
 
             // Ignore out-of-bounds intermediate points
             // The offset 0.2m is chosen because the sim prevents you from moving
             // more than 0.2m away from the border lines
-            if (abs(offset.x()) > field_dimensions.width() / 2 + 0.2 ||
-                abs(offset.y()) > field_dimensions.length() / 2 + 0.2) {
+            if (abs(offset.x()) > field_dimensions->width() / 2 + 0.2 ||
+                abs(offset.y()) > field_dimensions->length() / 2 + 0.2) {
                 continue;
             }
 

soccer/src/soccer/planning/primitives/create_path.hpp

@@ -32,7 +32,7 @@ Trajectory intermediate(const LinearMotionInstant& start, const LinearMotionInst
                         const MotionConstraints& motion_constraints, RJ::Time start_time,
                         const rj_geometry::ShapeSet& static_obstacles,
                         const std::vector<DynamicObstacle>& dynamic_obstacles,
-                        const FieldDimensions field_dimensions, unsigned int robot_id);
+                        const FieldDimensions* field_dimensions, unsigned int robot_id);
 
 std::vector<rj_geometry::Point> get_intermediates(const LinearMotionInstant& start,
                                                   const LinearMotionInstant& goal,

soccer/src/soccer/planning/primitives/replanner.hpp

@@ -28,7 +28,7 @@ class Replanner {
         LinearMotionInstant goal;
         const rj_geometry::ShapeSet& static_obstacles;
         const std::vector<DynamicObstacle>& dynamic_obstacles;
-        const FieldDimensions field_dimensions;
+        const FieldDimensions* field_dimensions;
         RobotConstraints constraints;
         const AngleFunction& angle_function;
         unsigned int robot_id;

soccer/src/soccer/planning/tests/planner_test.cpp

@@ -30,7 +30,7 @@ TEST(Planning, path_target_random) {
 
     WorldState world_state;
     PathTargetPathPlanner planner;
-    FieldDimensions field_dimensions = FieldDimensions::current_dimensions;
+    FieldDimensions* field_dimensions = &FieldDimensions::current_dimensions;
 
     int failure_count = 0;
     for (int i = 0; i < 1000; i++) {
@@ -90,7 +90,7 @@ TEST(Planning, path_target_random) {
 
 TEST(Planning, collect_basic) {
     WorldState world_state;
-    FieldDimensions field_dimensions = FieldDimensions::current_dimensions;
+    FieldDimensions* field_dimensions = &FieldDimensions::current_dimensions;
     world_state.ball.position = Point{1, 1};
     world_state.ball.velocity = Point{0, 0};
     world_state.ball.timestamp = RJ::now();
@@ -114,7 +114,7 @@ TEST(Planning, collect_basic) {
 
 TEST(Planning, collect_obstructed) {
     WorldState world_state;
-    FieldDimensions field_dimensions = FieldDimensions::current_dimensions;
+    FieldDimensions* field_dimensions = &FieldDimensions::current_dimensions;
     world_state.ball.position = Point{1, 1};
     world_state.ball.velocity = Point{0, 0};
     world_state.ball.timestamp = RJ::now();
@@ -140,7 +140,7 @@ TEST(Planning, collect_obstructed) {
 
 TEST(Planning, collect_pointless_obs) {
     WorldState world_state;
-    FieldDimensions field_dimensions = FieldDimensions::current_dimensions;
+    FieldDimensions* field_dimensions = &FieldDimensions::current_dimensions;
     world_state.ball.position = Point{1, 1};
     world_state.ball.velocity = Point{0, 0};
     world_state.ball.timestamp = RJ::now();
@@ -169,7 +169,7 @@ TEST(Planning, collect_pointless_obs) {
 
 TEST(Planning, collect_moving_ball_quick) {
     WorldState world_state;
-    FieldDimensions field_dimensions = FieldDimensions::current_dimensions;
+    FieldDimensions* field_dimensions = &FieldDimensions::current_dimensions;
     world_state.ball.position = Point{-1, 1};
     world_state.ball.velocity = Point{-0.03, 0.3};
     world_state.ball.timestamp = RJ::now();
@@ -195,7 +195,7 @@ TEST(Planning, collect_moving_ball_quick) {
 
 TEST(Planning, collect_moving_ball_slow) {
     WorldState world_state;
-    FieldDimensions field_dimensions = FieldDimensions::current_dimensions;
+    FieldDimensions* field_dimensions = &FieldDimensions::current_dimensions;
     world_state.ball.position = Point{-1, 1};
     world_state.ball.velocity = Point{0, 0.1};
     world_state.ball.timestamp = RJ::now();
@@ -221,7 +221,7 @@ TEST(Planning, collect_moving_ball_slow) {
 
 TEST(Planning, collect_moving_ball_slow_2) {
     WorldState world_state;
-    FieldDimensions field_dimensions = FieldDimensions::current_dimensions;
+    FieldDimensions* field_dimensions = &FieldDimensions::current_dimensions;
     world_state.ball.position = Point{-1, 1};
     world_state.ball.velocity = Point{0.01, 0.05};
     world_state.ball.timestamp = RJ::now();
@@ -248,7 +248,7 @@ TEST(Planning, collect_moving_ball_slow_2) {
 TEST(Planning, collect_random) {
     std::mt19937 gen(1337);
     WorldState world_state;
-    FieldDimensions field_dimensions = FieldDimensions::current_dimensions;
+    FieldDimensions* field_dimensions = &FieldDimensions::current_dimensions;
 
     int failure_count = 0;
 
@@ -295,7 +295,7 @@ TEST(Planning, collect_random) {
 
 TEST(Planning, settle_basic) {
     WorldState world_state;
-    FieldDimensions field_dimensions = FieldDimensions::current_dimensions;
+    FieldDimensions* field_dimensions = &FieldDimensions::current_dimensions;
     world_state.ball.position = Point{1, 1};
     world_state.ball.velocity = Point{-1, -1.5};
     world_state.ball.timestamp = RJ::now();
@@ -321,7 +321,7 @@ TEST(Planning, settle_basic) {
 
 TEST(Planning, settle_pointless_obs) {
     WorldState world_state;
-    FieldDimensions field_dimensions = FieldDimensions::current_dimensions;
+    FieldDimensions* field_dimensions = &FieldDimensions::current_dimensions;
     // Use some initial velocity, settle doesn't always work for non-moving
     // balls
     world_state.ball.position = Point{1, 3};
@@ -351,7 +351,7 @@ TEST(Planning, settle_pointless_obs) {
 TEST(Planning, settle_random) {
     std::mt19937 gen(1337);
     WorldState world_state;
-    FieldDimensions field_dimensions = FieldDimensions::current_dimensions;
+    FieldDimensions* field_dimensions = &FieldDimensions::current_dimensions;
 
     int failure_count = 0;