Track Distance Robot Has Travelled With Ball

Summary Currently, we don’t track how far a robot has travelled while carrying the ball. This makes it difficult to analyze performance, enforce strategy rules (e.g., max dribble distance), or feed this information into BehaviorTree nodes for decision-making.

Acceptance Criteria

• Maintain a running distance counter for a robot once it has possession of the ball.
• Distance should reset when the robot loses the ball.
• Expose the travelled distance as a property (e.g., via WorldStateManager or blackboard).
• Ensure updates happen in real time as robot position changes.
• Add unit/integration test verifying distance increments correctly.

Implementation Ideas

• Use robot pose updates (from WorldStateManager) to calculate incremental distances (Euclidean distance between consecutive positions).
• Maintain a flag for whether the robot currently has ball possession.
• Accumulate distance only while possession flag is true.
• Consider exposing a signal (e.g., distanceUpdated) if external observers need live updates.

Why This Is Important

• Enables testing compliance with game rules (e.g., limiting dribble distance).
• Provides useful metrics for AI decision-making.
• Supports debugging and visualization in tools like PathPlanner or UI dashboards.

Next Steps

• Decide ownership of distance tracking (in AgentControl, WorldStateManager, or a dedicated tracker class).
• Implement incremental distance calculation.
• Integrate with possession detection logic.