├── .gitignore ├── .gitmodules ├── .travis.yml ├── LICENSE ├── Readme.md ├── ai_controller ├── CMakeLists.txt ├── package.xml ├── scripts │ └── ai_controller.py └── test │ └── test_ai_controller.py ├── ai_core ├── CMakeLists.txt ├── launch │ ├── ai_core.launch │ ├── enemy.launch │ ├── real.launch │ ├── robot.launch │ ├── simulator.launch │ ├── test_ai_core.launch │ ├── test_real.launch │ ├── test_robot.launch │ └── test_simulator.launch ├── package.xml └── param │ └── our_team.yaml ├── avoiding_point_generator ├── CMakeLists.txt ├── cfg │ └── point_generator.cfg ├── package.xml ├── src │ ├── avoiding_point_generator_node.cpp │ └── transformation.h └── test │ └── test_avoiding_point_generator.py ├── behavior_tree_visualizer ├── CMakeLists.txt ├── package.xml ├── plugin.xml ├── resource │ └── rqt_dot.ui ├── scripts │ └── behavior_tree_visualizer ├── setup.py └── src │ └── behavior_tree_visualizer │ ├── __init__.py │ └── btv.py ├── consai_msgs ├── CMakeLists.txt ├── msg │ ├── AIStatus.msg │ ├── FieldCircularArc.msg │ ├── FieldLineSegment.msg │ ├── GeometryFieldSize.msg │ ├── Pose.msg │ ├── RefereeTeamInfo.msg │ ├── ReplaceBall.msg │ ├── ReplaceRobot.msg │ ├── RobotPoses.msg │ ├── VisionData.msg │ ├── VisionIDList.msg │ ├── VisionPacket.msg │ ├── nodeData.msg │ ├── nodeDataArray.msg │ ├── robot_commands.msg │ └── robot_packet.msg └── package.xml ├── controller_switcher ├── CMakeLists.txt ├── package.xml └── scripts │ └── controller_switcher.py ├── decision_making ├── CMakeLists.txt ├── package.xml ├── scripts │ ├── command.py │ ├── constants.py │ ├── coordinate.py │ ├── decision_making_node.py │ ├── observer.py │ ├── play_executer.py │ ├── plays │ │ ├── __init__.py │ │ ├── play_base.py │ │ ├── play_book.py │ │ ├── play_direct.py │ │ ├── play_dummy.py │ │ ├── play_force_start.py │ │ ├── play_halt.py │ │ ├── play_indirect.py │ │ ├── play_inplay.py │ │ ├── play_inplay_our_defence.py │ │ ├── play_inplay_their_defence.py │ │ ├── play_our_kickoff_start.py │ │ ├── play_our_penalty_start.py │ │ ├── play_our_pre_kickoff.py │ │ ├── play_our_pre_penalty.py │ │ ├── play_outside.py │ │ ├── play_stop.py │ │ ├── play_their_direct.py │ │ ├── play_their_indirect.py │ │ ├── play_their_kickoff_start.py │ │ ├── play_their_penalty_start.py │ │ ├── play_their_pre_kickoff.py │ │ ├── play_their_pre_penalty.py │ │ ├── role_base.py │ │ ├── tactics │ │ │ ├── __init__.py │ │ │ ├── skills │ │ │ │ ├── __init__.py │ │ │ │ ├── adjustments.py │ │ │ │ ├── drive_to_target.py │ │ │ │ ├── dynamic_drive.py │ │ │ │ ├── observations.py │ │ │ │ └── turn_off.py │ │ │ ├── tactic_clear.py │ │ │ ├── tactic_goalie.py │ │ │ ├── tactic_halt.py │ │ │ ├── tactic_inplay_shoot.py │ │ │ ├── tactic_interpose.py │ │ │ ├── tactic_intersection.py │ │ │ ├── tactic_keep.py │ │ │ ├── tactic_look_intersection.py │ │ │ ├── tactic_mark.py │ │ │ ├── tactic_position.py │ │ │ └── tactic_setplay_shoot.py │ │ ├── test0.py │ │ └── test_book.py │ ├── proto │ │ ├── __init__.py │ │ ├── referee.proto │ │ └── referee_pb2.py │ ├── tool.py │ └── world_model.py └── test │ └── test_decision_making.py ├── doc ├── Concept.md ├── Packages │ ├── Main.md │ ├── ai_controller.md │ ├── ai_core.md │ ├── avoiding_point_generator.md │ ├── consai_msgs.md │ ├── controller_switcher.md │ ├── decision_making.md │ ├── grsim_wrapper.md │ ├── launch_manager.md │ ├── real_sender.md │ ├── sai_visualizer.md │ ├── sample.md │ ├── ssl_refbox_wrapper.md │ ├── test.md │ ├── trapezoidal_control.md │ ├── velocity_transformer.md │ └── world_observer.md ├── Tutorial.md └── qtcreatorAsRosIDE.md ├── grsim_wrapper ├── CMakeLists.txt ├── package.xml ├── parameter.txt ├── scripts │ ├── __init__.py │ ├── command_sender.py │ ├── detection.py │ ├── format_converter.py │ ├── multicast.py │ ├── proto │ │ ├── __init__.py │ │ ├── grSim_Commands.proto │ │ ├── grSim_Commands_pb2.py │ │ ├── grSim_Packet.proto │ │ ├── grSim_Packet_pb2.py │ │ ├── grSim_Replacement.proto │ │ ├── grSim_Replacement_pb2.py │ │ ├── messages_robocup_ssl_detection.proto │ │ ├── messages_robocup_ssl_detection_pb2.py │ │ ├── messages_robocup_ssl_geometry.proto │ │ ├── messages_robocup_ssl_geometry_legacy.proto │ │ ├── messages_robocup_ssl_geometry_pb2.py │ │ ├── messages_robocup_ssl_refbox_log.proto │ │ ├── messages_robocup_ssl_refbox_log_pb2.py │ │ ├── messages_robocup_ssl_wrapper.proto │ │ └── messages_robocup_ssl_wrapper_pb2.py │ └── tests │ │ └── test_format_converter.py └── test │ ├── test_command_sender.py │ └── test_detection.py ├── launch_manager ├── CMakeLists.txt ├── package.xml ├── src │ └── launch_manager.py └── test │ └── test_launch_manager.py ├── real_sender ├── CMakeLists.txt ├── include │ └── real_sender │ │ ├── serial.h │ │ └── serializer.hpp ├── package.xml ├── src │ ├── real_sender_node.cpp │ ├── serializer.cpp │ └── tests │ │ └── test_serializer.cpp └── test │ └── test_real_sender.py ├── sai_visualizer ├── CMakeLists.txt ├── package.xml ├── plugin.xml ├── resource │ └── visualizer_widget.ui ├── scripts │ └── sai_visualizer ├── setup.py └── src │ └── sai_visualizer │ ├── __init__.py │ ├── geometry.py │ ├── paint_widget.py │ └── visualizer.py ├── ssl_joystick_operation ├── CMakeLists.txt ├── launch │ └── ssl_joystick_operation.launch ├── package.xml ├── param │ └── ps3_config.yaml ├── scripts │ └── joystick_node.py └── 操作割り当て.txt ├── ssl_refbox_wrapper ├── CMakeLists.txt ├── package.xml ├── src │ ├── multicast.py │ ├── proto │ │ └── referee.proto │ ├── referee_pb2.py │ └── ssl_refbox_wrapper_node.py └── test │ └── test_ssl_refbox_wrapper.py ├── test ├── travis_build_consai.bash └── travis_ros_install.bash ├── trapezoidal_control ├── CMakeLists.txt ├── cfg │ └── controller.cfg ├── package.xml ├── src │ ├── transformation.h │ └── trapezoidal_control_node.cpp └── test │ └── test_trapezoidal_control.py ├── velocity_transformer ├── CMakeLists.txt ├── package.xml ├── src │ └── velocity_transformer.py └── test │ └── test_velocity_transformer.py └── world_observer ├── CMakeLists.txt 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