14.16 FaceBall

This function forces the agent to turn and face a particular destination in this case the ball. Firstly we use the getTargetDistanceAndAngle method to determine the angle between myself and some target, in this case ball. Once we have the angle we can see if it is within some threshold in this case 10. If our angle is greater we use goToTargetRelative(mypos, angle); to turn to the ball. If we are within the threshold we simply SKILL_STAND.

SkillType NaoBehavior::FaceBall(VecPosition mypos){
    double distance, angle;
    getTargetDistanceAndAngle(ball, distance, angle);
    if (abs(angle) > 10) {
      return goToTargetRelative(mypos, angle);
    } else {
      return SKILL_STAND;
    }
}