Fawkes API Fawkes Development Version
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Relative ball position message. More...
#include <messages.h>
Public Attributes | |
int32_t | history: 24 |
visibility history, positive means number of positive observations in a row, 0 means vision has just been initialized, negative number means the number of negative observations in a row (not seen for three loops results in a history of -3). | |
int32_t | visible: 1 |
-1 if ball visible, 0 otherwise. | |
int32_t | reserved: 7 |
reserved for future use. | |
float | bearing |
bearing to the ball, this is the angle between the robots forward direction and the ball on the ground plane (azimuth) | |
float | dist |
distance to the robot | |
float | slope |
slope to the ball, this is the angle between the robots center position on the ground plane and the ball (declination) | |
float | covariance [WORLDINFO_COVARIANCE_SIZE_3X3] |
ball covariance matrix |
Relative ball position message.
This message describes a robots belief about the position of a ball relative to itself. This is NOT meant to be send with information about any other object but the ball. There is a strong binding between the sender and the object which this data describes which means that with this message a robot may not distribute another robots belief of a ball position.
Definition at line 110 of file messages.h.
bearing to the ball, this is the angle between the robots forward direction and the ball on the ground plane (azimuth)
Definition at line 120 of file messages.h.
Referenced by fawkes::WorldInfoTransceiver::recv(), and fawkes::WorldInfoTransceiver::send().
float fawkes::worldinfo_relballpos_message_t::covariance[WORLDINFO_COVARIANCE_SIZE_3X3] |
ball covariance matrix
Definition at line 125 of file messages.h.
Referenced by fawkes::WorldInfoTransceiver::recv(), and fawkes::WorldInfoTransceiver::send().
distance to the robot
Definition at line 122 of file messages.h.
Referenced by fawkes::WorldInfoTransceiver::recv(), and fawkes::WorldInfoTransceiver::send().
visibility history, positive means number of positive observations in a row, 0 means vision has just been initialized, negative number means the number of negative observations in a row (not seen for three loops results in a history of -3).
Definition at line 111 of file messages.h.
Referenced by fawkes::WorldInfoTransceiver::recv(), and fawkes::WorldInfoTransceiver::send().
reserved for future use.
Definition at line 119 of file messages.h.
slope to the ball, this is the angle between the robots center position on the ground plane and the ball (declination)
Definition at line 123 of file messages.h.
Referenced by fawkes::WorldInfoTransceiver::recv(), and fawkes::WorldInfoTransceiver::send().
-1 if ball visible, 0 otherwise.
If the ball is not visible the position will be the last known position.
Definition at line 116 of file messages.h.
Referenced by fawkes::WorldInfoTransceiver::recv(), and fawkes::WorldInfoTransceiver::send().