Please provide c$++$ code and explanation for this task

Positioning at the ball for kicking towards the goalpost:

The robot should be able to position itself in front of the ball and kicking the ball towards the goalpost. This behaviour can assume that the robot already knows the position of the ball and goalpost. However these should be input information, and as a consequence, here, you should include define what kind of information, when and how you manage them in order to position the robot in the right direction to kick.