Fawkes API Fawkes Development Version
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Opponent message. More...
#include <messages.h>
Public Attributes | |
uint32_t | uid |
unique ID of this opponent | |
float | dist |
distance to the opponent. | |
float | bearing |
bearing to the opponent, this is the angle between the robots forward direction and the opponent on the ground plane (azimuth) | |
float | covariance [WORLDINFO_COVARIANCE_SIZE_2X2] |
opponent position covariance matrix |
Opponent message.
This message should be sent for every opponent that a robot detects. The position is given in robot-relative polar coordinates on the ground plane. This is NOT meant to be send with information about any other object but an opponent. 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 an opponent position. The sending robot assigns an ID to each opponent. The ID is unique on the robot, which means that if two messages are sent with the same ID it can be assumed that it is for the exact same opponents.
Definition at line 188 of file messages.h.
bearing to the opponent, this is the angle between the robots forward direction and the opponent on the ground plane (azimuth)
Definition at line 191 of file messages.h.
Referenced by fawkes::WorldInfoTransceiver::recv(), and fawkes::WorldInfoTransceiver::send().
float fawkes::worldinfo_opppose_message_t::covariance[WORLDINFO_COVARIANCE_SIZE_2X2] |
opponent position covariance matrix
Definition at line 193 of file messages.h.
Referenced by fawkes::WorldInfoTransceiver::recv(), and fawkes::WorldInfoTransceiver::send().
distance to the opponent.
Definition at line 190 of file messages.h.
Referenced by fawkes::WorldInfoTransceiver::recv(), and fawkes::WorldInfoTransceiver::send().
unique ID of this opponent
Definition at line 189 of file messages.h.
Referenced by fawkes::WorldInfoTransceiver::recv(), and fawkes::WorldInfoTransceiver::send().