Fawkes API
Fawkes Development Version
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ObjectPositionInterface Fawkes BlackBoard Interface. More...
#include <>>
Classes | |
struct | ObjectPositionInterface_data_t |
Internal data storage, do NOT modify! |
Public Member Functions | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. | |
uint32_t | object_type () const |
Get object_type value. | |
void | set_object_type (const uint32_t new_object_type) |
Set object_type value. | |
size_t | maxlenof_object_type () const |
Get maximum length of object_type value. | |
uint32_t | flags () const |
Get flags value. | |
void | set_flags (const uint32_t new_flags) |
Set flags value. | |
size_t | maxlenof_flags () const |
Get maximum length of flags value. | |
bool | is_visible () const |
Get visible value. | |
void | set_visible (const bool new_visible) |
Set visible value. | |
size_t | maxlenof_visible () const |
Get maximum length of visible value. | |
bool | is_valid () const |
Get valid value. | |
void | set_valid (const bool new_valid) |
Set valid value. | |
size_t | maxlenof_valid () const |
Get maximum length of valid value. | |
int32_t | visibility_history () const |
Get visibility_history value. | |
void | set_visibility_history (const int32_t new_visibility_history) |
Set visibility_history value. | |
size_t | maxlenof_visibility_history () const |
Get maximum length of visibility_history value. | |
float | roll () const |
Get roll value. | |
void | set_roll (const float new_roll) |
Set roll value. | |
size_t | maxlenof_roll () const |
Get maximum length of roll value. | |
float | pitch () const |
Get pitch value. | |
void | set_pitch (const float new_pitch) |
Set pitch value. | |
size_t | maxlenof_pitch () const |
Get maximum length of pitch value. | |
float | yaw () const |
Get yaw value. | |
void | set_yaw (const float new_yaw) |
Set yaw value. | |
size_t | maxlenof_yaw () const |
Get maximum length of yaw value. | |
float | distance () const |
Get distance value. | |
void | set_distance (const float new_distance) |
Set distance value. | |
size_t | maxlenof_distance () const |
Get maximum length of distance value. | |
float | bearing () const |
Get bearing value. | |
void | set_bearing (const float new_bearing) |
Set bearing value. | |
size_t | maxlenof_bearing () const |
Get maximum length of bearing value. | |
float | slope () const |
Get slope value. | |
void | set_slope (const float new_slope) |
Set slope value. | |
size_t | maxlenof_slope () const |
Get maximum length of slope value. | |
float * | dbs_covariance () const |
Get dbs_covariance value. | |
float | dbs_covariance (unsigned int index) const |
Get dbs_covariance value at given index. | |
void | set_dbs_covariance (unsigned int index, const float new_dbs_covariance) |
Set dbs_covariance value at given index. | |
void | set_dbs_covariance (const float *new_dbs_covariance) |
Set dbs_covariance value. | |
size_t | maxlenof_dbs_covariance () const |
Get maximum length of dbs_covariance value. | |
float | world_x () const |
Get world_x value. | |
void | set_world_x (const float new_world_x) |
Set world_x value. | |
size_t | maxlenof_world_x () const |
Get maximum length of world_x value. | |
float | world_y () const |
Get world_y value. | |
void | set_world_y (const float new_world_y) |
Set world_y value. | |
size_t | maxlenof_world_y () const |
Get maximum length of world_y value. | |
float | world_z () const |
Get world_z value. | |
void | set_world_z (const float new_world_z) |
Set world_z value. | |
size_t | maxlenof_world_z () const |
Get maximum length of world_z value. | |
float * | world_xyz_covariance () const |
Get world_xyz_covariance value. | |
float | world_xyz_covariance (unsigned int index) const |
Get world_xyz_covariance value at given index. | |
void | set_world_xyz_covariance (unsigned int index, const float new_world_xyz_covariance) |
Set world_xyz_covariance value at given index. | |
void | set_world_xyz_covariance (const float *new_world_xyz_covariance) |
Set world_xyz_covariance value. | |
size_t | maxlenof_world_xyz_covariance () const |
Get maximum length of world_xyz_covariance value. | |
float | relative_x () const |
Get relative_x value. | |
void | set_relative_x (const float new_relative_x) |
Set relative_x value. | |
size_t | maxlenof_relative_x () const |
Get maximum length of relative_x value. | |
float | relative_y () const |
Get relative_y value. | |
void | set_relative_y (const float new_relative_y) |
Set relative_y value. | |
size_t | maxlenof_relative_y () const |
Get maximum length of relative_y value. | |
float | relative_z () const |
Get relative_z value. | |
void | set_relative_z (const float new_relative_z) |
Set relative_z value. | |
size_t | maxlenof_relative_z () const |
Get maximum length of relative_z value. | |
float * | relative_xyz_covariance () const |
Get relative_xyz_covariance value. | |
float | relative_xyz_covariance (unsigned int index) const |
Get relative_xyz_covariance value at given index. | |
void | set_relative_xyz_covariance (unsigned int index, const float new_relative_xyz_covariance) |
Set relative_xyz_covariance value at given index. | |
void | set_relative_xyz_covariance (const float *new_relative_xyz_covariance) |
Set relative_xyz_covariance value. | |
size_t | maxlenof_relative_xyz_covariance () const |
Get maximum length of relative_xyz_covariance value. | |
float | extent_x () const |
Get extent_x value. | |
void | set_extent_x (const float new_extent_x) |
Set extent_x value. | |
size_t | maxlenof_extent_x () const |
Get maximum length of extent_x value. | |
float | extent_y () const |
Get extent_y value. | |
void | set_extent_y (const float new_extent_y) |
Set extent_y value. | |
size_t | maxlenof_extent_y () const |
Get maximum length of extent_y value. | |
float | extent_z () const |
Get extent_z value. | |
void | set_extent_z (const float new_extent_z) |
Set extent_z value. | |
size_t | maxlenof_extent_z () const |
Get maximum length of extent_z value. | |
float | world_x_velocity () const |
Get world_x_velocity value. | |
void | set_world_x_velocity (const float new_world_x_velocity) |
Set world_x_velocity value. | |
size_t | maxlenof_world_x_velocity () const |
Get maximum length of world_x_velocity value. | |
float | world_y_velocity () const |
Get world_y_velocity value. | |
void | set_world_y_velocity (const float new_world_y_velocity) |
Set world_y_velocity value. | |
size_t | maxlenof_world_y_velocity () const |
Get maximum length of world_y_velocity value. | |
float | world_z_velocity () const |
Get world_z_velocity value. | |
void | set_world_z_velocity (const float new_world_z_velocity) |
Set world_z_velocity value. | |
size_t | maxlenof_world_z_velocity () const |
Get maximum length of world_z_velocity value. | |
float * | world_xyz_velocity_covariance () const |
Get world_xyz_velocity_covariance value. | |
float | world_xyz_velocity_covariance (unsigned int index) const |
Get world_xyz_velocity_covariance value at given index. | |
void | set_world_xyz_velocity_covariance (unsigned int index, const float new_world_xyz_velocity_covariance) |
Set world_xyz_velocity_covariance value at given index. | |
void | set_world_xyz_velocity_covariance (const float *new_world_xyz_velocity_covariance) |
Set world_xyz_velocity_covariance value. | |
size_t | maxlenof_world_xyz_velocity_covariance () const |
Get maximum length of world_xyz_velocity_covariance value. | |
float | relative_x_velocity () const |
Get relative_x_velocity value. | |
void | set_relative_x_velocity (const float new_relative_x_velocity) |
Set relative_x_velocity value. | |
size_t | maxlenof_relative_x_velocity () const |
Get maximum length of relative_x_velocity value. | |
float | relative_y_velocity () const |
Get relative_y_velocity value. | |
void | set_relative_y_velocity (const float new_relative_y_velocity) |
Set relative_y_velocity value. | |
size_t | maxlenof_relative_y_velocity () const |
Get maximum length of relative_y_velocity value. | |
float | relative_z_velocity () const |
Get relative_z_velocity value. | |
void | set_relative_z_velocity (const float new_relative_z_velocity) |
Set relative_z_velocity value. | |
size_t | maxlenof_relative_z_velocity () const |
Get maximum length of relative_z_velocity value. | |
float * | relative_xyz_velocity_covariance () const |
Get relative_xyz_velocity_covariance value. | |
float | relative_xyz_velocity_covariance (unsigned int index) const |
Get relative_xyz_velocity_covariance value at given index. | |
void | set_relative_xyz_velocity_covariance (unsigned int index, const float new_relative_xyz_velocity_covariance) |
Set relative_xyz_velocity_covariance value at given index. | |
void | set_relative_xyz_velocity_covariance (const float *new_relative_xyz_velocity_covariance) |
Set relative_xyz_velocity_covariance value. | |
size_t | maxlenof_relative_xyz_velocity_covariance () const |
Get maximum length of relative_xyz_velocity_covariance value. | |
virtual Message * | create_message (const char *type) const |
Create message based on type name. | |
virtual void | copy_values (const Interface *other) |
Copy values from other interface. | |
virtual const char * | enum_tostring (const char *enumtype, int val) const |
Convert arbitrary enum value to string. | |
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virtual | ~Interface () |
Destructor. | |
bool | oftype (const char *interface_type) const |
Check if interface is of given type. | |
const void * | datachunk () const |
Get data chunk. | |
unsigned int | datasize () const |
Get data size. | |
const char * | type () const |
Get type of interface. | |
const char * | id () const |
Get identifier of interface. | |
const char * | uid () const |
Get unique identifier of interface. | |
unsigned short | serial () const |
Get instance serial of interface. | |
unsigned int | mem_serial () const |
Get memory serial of interface. | |
bool | operator== (Interface &comp) const |
Check equality of two interfaces. | |
const unsigned char * | hash () const |
Get interface hash. | |
size_t | hash_size () const |
Get size of interface hash. | |
const char * | hash_printable () const |
Get printable interface hash. | |
bool | is_writer () const |
Check if this is a writing instance. | |
void | set_validity (bool valid) |
Mark this interface invalid. | |
void | set_from_chunk (void *chunk) |
Set from a raw data chunk. | |
void | resize_buffers (unsigned int num_buffers) |
Resize buffer array. | |
unsigned int | num_buffers () const |
Get number of buffers. | |
void | copy_shared_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. | |
void | copy_private_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. | |
void | read_from_buffer (unsigned int buffer) |
Copy data from buffer to private memory. | |
int | compare_buffers (unsigned int buffer) |
Compare buffer to private memory. | |
void | read () |
Read from BlackBoard into local copy. | |
void | write () |
Write from local copy into BlackBoard memory. | |
bool | has_writer () const |
Check if there is a writer for the interface. | |
unsigned int | num_readers () const |
Get the number of readers. | |
bool | changed () const |
Check if data has been changed. | |
const Time * | timestamp () const |
Get timestamp of last write. | |
void | set_auto_timestamping (bool enabled) |
Enable or disable automated timestamping. | |
void | set_timestamp (const Time *t=NULL) |
Set timestamp. | |
void | set_clock (Clock *clock) |
Set clock to use for timestamping. | |
std::list< const char * > | get_message_types () |
Obtain a list of textual representations of the message types available for this interface. | |
unsigned int | msgq_enqueue (Message *message) |
Enqueue message at end of queue. | |
unsigned int | msgq_enqueue_copy (Message *message) |
Enqueue copy of message at end of queue. | |
void | msgq_remove (Message *message) |
Remove message from queue. | |
void | msgq_remove (unsigned int message_id) |
Remove message from queue. | |
unsigned int | msgq_size () |
Get size of message queue. | |
void | msgq_flush () |
Flush all messages. | |
void | msgq_lock () |
Lock message queue. | |
bool | msgq_try_lock () |
Try to lock message queue. | |
void | msgq_unlock () |
Unlock message queue. | |
void | msgq_pop () |
Erase first message from queue. | |
Message * | msgq_first () |
Get the first message from the message queue. | |
bool | msgq_empty () |
Check if queue is empty. | |
template<class MessageType > | |
bool | msgq_first_is () |
Check if first message has desired type. | |
template<class MessageType > | |
MessageType * | msgq_first () |
Get first message casted to the desired type. | |
template<class MessageType > | |
MessageType * | msgq_first (MessageType *&msg) |
Get first message casted to the desired type. | |
template<class MessageType > | |
MessageType * | msgq_first_safe (MessageType *&msg) throw () |
Get first message casted to the desired type without exceptions. | |
MessageQueue::MessageIterator | msgq_begin () |
Get start iterator for message queue. | |
MessageQueue::MessageIterator | msgq_end () |
Get end iterator for message queue. | |
InterfaceFieldIterator | fields () |
Get iterator over all fields of this interface instance. | |
InterfaceFieldIterator | fields_end () |
Invalid iterator. | |
unsigned int | num_fields () |
Get the number of fields in the interface. |
Static Public Attributes | |
static const uint32_t | TYPE_OTHER = 0u |
TYPE_OTHER constant. | |
static const uint32_t | TYPE_BALL = 1u |
TYPE_BALL constant. | |
static const uint32_t | TYPE_OPPONENT = 2u |
TYPE_OPPONENT constant. | |
static const uint32_t | TYPE_TEAMMEMBER = 3u |
TYPE_TEAMMEMBER constant. | |
static const uint32_t | TYPE_LINE = 4u |
TYPE_LINE constant. | |
static const uint32_t | TYPE_SELF = 5u |
TYPE_SELF constant. | |
static const uint32_t | TYPE_GOAL_BLUE = 6u |
TYPE_GOAL_BLUE constant. | |
static const uint32_t | TYPE_GOAL_YELLOW = 7u |
TYPE_GOAL_YELLOW constant. | |
static const uint32_t | FLAG_NONE = 0u |
FLAG_NONE constant. | |
static const uint32_t | FLAG_HAS_WORLD = 1u |
FLAG_HAS_WORLD constant. | |
static const uint32_t | FLAG_HAS_RELATIVE_CARTESIAN = 2u |
FLAG_HAS_RELATIVE_CARTESIAN constant. | |
static const uint32_t | FLAG_HAS_RELATIVE_POLAR = 4u |
FLAG_HAS_RELATIVE_POLAR constant. | |
static const uint32_t | FLAG_HAS_EULER_ANGLES = 8u |
FLAG_HAS_EULER_ANGLES constant. | |
static const uint32_t | FLAG_HAS_EXTENT = 16u |
FLAG_HAS_EXTENT constant. | |
static const uint32_t | FLAG_HAS_VOLUME_EXTENT = 32u |
FLAG_HAS_VOLUME_EXTENT constant. | |
static const uint32_t | FLAG_HAS_CIRCULAR_EXTENT = 64u |
FLAG_HAS_CIRCULAR_EXTENT constant. | |
static const uint32_t | FLAG_HAS_COVARIANCES = 128u |
FLAG_HAS_COVARIANCES constant. | |
static const uint32_t | FLAG_HAS_WORLD_VELOCITY = 256u |
FLAG_HAS_WORLD_VELOCITY constant. | |
static const uint32_t | FLAG_HAS_Z_AS_ORI = 512u |
FLAG_HAS_Z_AS_ORI constant. | |
static const uint32_t | FLAG_IS_FIXED_OBJECT = 1024u |
FLAG_IS_FIXED_OBJECT constant. |
Additional Inherited Members | |
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static void | parse_uid (const char *uid, char **type, char **id) |
Parse UID to type and ID strings. | |
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Interface () | |
Constructor. | |
void | set_hash (unsigned char *ihash) |
Set hash. | |
void | add_fieldinfo (interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0) |
Add an entry to the field info list. | |
void | add_messageinfo (const char *name) |
Add an entry to the message info list. | |
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void * | data_ptr |
Pointer to local memory storage. | |
unsigned int | data_size |
Minimal data size to hold data storage. | |
bool | data_changed |
Indicator if data has changed. | |
interface_data_ts_t * | data_ts |
Pointer to data casted to timestamp struct. |
ObjectPositionInterface Fawkes BlackBoard Interface.
This interface provides access to arbitrary object positions and velocities. You can use it to store the position of any object in the RoboCup domain. There is a type indicator for the RoboCup soccer domain to easily distinguish several well known objects. You may choose not to use this for other application in which case the value should be other (which is also the default).
Definition at line 33 of file ObjectPositionInterface.h.
float fawkes::ObjectPositionInterface::bearing | ( | ) | const |
Get bearing value.
Angle between the robot's forward direction and the object on the ground plane. This angle is in a local 3D coordinate system to the robot and given in radians.
Definition at line 465 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse().
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 1463 of file ObjectPositionInterface.cpp.
References fawkes::Interface::type().
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virtual |
Create message based on type name.
This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.
type | message type |
UnknownTypeException | thrown if this interface cannot create a message of the given type. |
Implements fawkes::Interface.
Definition at line 1452 of file ObjectPositionInterface.cpp.
float * fawkes::ObjectPositionInterface::dbs_covariance | ( | ) | const |
Get dbs_covariance value.
Covariance of Distance/Yaw/Pitch values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
Definition at line 542 of file ObjectPositionInterface.cpp.
Referenced by WorldModelThread::loop().
float fawkes::ObjectPositionInterface::dbs_covariance | ( | unsigned int | index | ) | const |
Get dbs_covariance value at given index.
Covariance of Distance/Yaw/Pitch values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 558 of file ObjectPositionInterface.cpp.
float fawkes::ObjectPositionInterface::distance | ( | ) | const |
Get distance value.
Distance from the robot to the object on the ground plane. The distance is given in meters.
Definition at line 428 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse(), and WorldModelObjPosMajorityFuser::fuse().
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virtual |
Convert arbitrary enum value to string.
Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.
enumtype | enum type as string |
val | value to convert |
UnknownTypeException | thrown if enumtype is not specified for interface. |
Implements fawkes::Interface.
Definition at line 1474 of file ObjectPositionInterface.cpp.
float fawkes::ObjectPositionInterface::extent_x | ( | ) | const |
Get extent_x value.
Extent of the seen object given in the relative x cartesian coordinate in m.
Definition at line 990 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse().
float fawkes::ObjectPositionInterface::extent_y | ( | ) | const |
Get extent_y value.
Extent of the seen object given in the relative y cartesian coordinate in m.
Definition at line 1025 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse().
float fawkes::ObjectPositionInterface::extent_z | ( | ) | const |
Get extent_z value.
Extent of the seen object given in the relative z cartesian coordinate in m.
Definition at line 1060 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse().
uint32_t fawkes::ObjectPositionInterface::flags | ( | ) | const |
Get flags value.
Bit-wise concatenated fields of FLAG_* constants. Denotes features that the writer of this interfaces provides. Use a bit-wise OR to concatenate multiple flags, use a bit-wise AND to check if a flag has been set.
Definition at line 180 of file ObjectPositionInterface.cpp.
Referenced by WorldModelNetworkThread::ball_pos_rcvd(), WorldModelObjPosAverageFuser::fuse(), WorldModelObjPosMajorityFuser::fuse(), WorldModelNetworkThread::global_ball_pos_rcvd(), and WorldModelThread::loop().
bool fawkes::ObjectPositionInterface::is_valid | ( | ) | const |
Get valid value.
True, if this position is valid.
Reimplemented from fawkes::Interface.
Definition at line 246 of file ObjectPositionInterface.cpp.
Referenced by LaserDrawingArea::draw_persons_legs(), WorldModelObjPosAverageFuser::fuse(), WorldModelObjPosMajorityFuser::fuse(), and WorldModelThread::loop().
bool fawkes::ObjectPositionInterface::is_visible | ( | ) | const |
Get visible value.
True, if object is visible.
Definition at line 215 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse(), WorldModelObjPosMajorityFuser::fuse(), and WorldModelThread::loop().
size_t fawkes::ObjectPositionInterface::maxlenof_bearing | ( | ) | const |
Get maximum length of bearing value.
Definition at line 475 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_dbs_covariance | ( | ) | const |
Get maximum length of dbs_covariance value.
Definition at line 571 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_distance | ( | ) | const |
Get maximum length of distance value.
Definition at line 438 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_extent_x | ( | ) | const |
Get maximum length of extent_x value.
Definition at line 1000 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_extent_y | ( | ) | const |
Get maximum length of extent_y value.
Definition at line 1035 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_extent_z | ( | ) | const |
Get maximum length of extent_z value.
Definition at line 1070 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_flags | ( | ) | const |
Get maximum length of flags value.
Definition at line 190 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_object_type | ( | ) | const |
Get maximum length of object_type value.
Definition at line 153 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_pitch | ( | ) | const |
Get maximum length of pitch value.
Definition at line 367 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_relative_x | ( | ) | const |
Get maximum length of relative_x value.
Definition at line 819 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_relative_x_velocity | ( | ) | const |
Get maximum length of relative_x_velocity value.
Definition at line 1286 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_relative_xyz_covariance | ( | ) | const |
Get maximum length of relative_xyz_covariance value.
Definition at line 945 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_relative_xyz_velocity_covariance | ( | ) | const |
Get maximum length of relative_xyz_velocity_covariance value.
Definition at line 1412 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_relative_y | ( | ) | const |
Get maximum length of relative_y value.
Definition at line 854 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_relative_y_velocity | ( | ) | const |
Get maximum length of relative_y_velocity value.
Definition at line 1321 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_relative_z | ( | ) | const |
Get maximum length of relative_z value.
Definition at line 889 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_relative_z_velocity | ( | ) | const |
Get maximum length of relative_z_velocity value.
Definition at line 1356 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_roll | ( | ) | const |
Get maximum length of roll value.
Definition at line 332 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_slope | ( | ) | const |
Get maximum length of slope value.
Definition at line 513 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_valid | ( | ) | const |
Get maximum length of valid value.
Definition at line 256 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_visibility_history | ( | ) | const |
Get maximum length of visibility_history value.
Definition at line 293 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_visible | ( | ) | const |
Get maximum length of visible value.
Definition at line 225 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_world_x | ( | ) | const |
Get maximum length of world_x value.
Definition at line 628 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_world_x_velocity | ( | ) | const |
Get maximum length of world_x_velocity value.
Definition at line 1105 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_world_xyz_covariance | ( | ) | const |
Get maximum length of world_xyz_covariance value.
Definition at line 764 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_world_xyz_velocity_covariance | ( | ) | const |
Get maximum length of world_xyz_velocity_covariance value.
Definition at line 1231 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_world_y | ( | ) | const |
Get maximum length of world_y value.
Definition at line 667 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_world_y_velocity | ( | ) | const |
Get maximum length of world_y_velocity value.
Definition at line 1140 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_world_z | ( | ) | const |
Get maximum length of world_z value.
Definition at line 706 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_world_z_velocity | ( | ) | const |
Get maximum length of world_z_velocity value.
Definition at line 1175 of file ObjectPositionInterface.cpp.
size_t fawkes::ObjectPositionInterface::maxlenof_yaw | ( | ) | const |
Get maximum length of yaw value.
Definition at line 402 of file ObjectPositionInterface.cpp.
|
virtual |
Check if message is valid and can be enqueued.
message | Message to check |
Implements fawkes::Interface.
Definition at line 1485 of file ObjectPositionInterface.cpp.
uint32_t fawkes::ObjectPositionInterface::object_type | ( | ) | const |
Get object_type value.
Object type, use constants to define
Definition at line 143 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse().
float fawkes::ObjectPositionInterface::pitch | ( | ) | const |
Get pitch value.
Pitch value for the orientation of the object in space.
Definition at line 357 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse().
float fawkes::ObjectPositionInterface::relative_x | ( | ) | const |
Get relative_x value.
This is the X coordinate in the cartesian right-handed robot coordinate system.
Definition at line 809 of file ObjectPositionInterface.cpp.
Referenced by LaserDrawingArea::draw_persons_legs(), WorldModelObjPosAverageFuser::fuse(), and WorldModelThread::loop().
float fawkes::ObjectPositionInterface::relative_x_velocity | ( | ) | const |
Get relative_x_velocity value.
Velocity of object in the world coordinate system in X-direction in meter per second.
Definition at line 1276 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse().
float * fawkes::ObjectPositionInterface::relative_xyz_covariance | ( | ) | const |
Get relative_xyz_covariance value.
Covariance of relative x/y/z values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
Definition at line 916 of file ObjectPositionInterface.cpp.
float fawkes::ObjectPositionInterface::relative_xyz_covariance | ( | unsigned int | index | ) | const |
Get relative_xyz_covariance value at given index.
Covariance of relative x/y/z values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 932 of file ObjectPositionInterface.cpp.
float * fawkes::ObjectPositionInterface::relative_xyz_velocity_covariance | ( | ) | const |
Get relative_xyz_velocity_covariance value.
Covariance of relative x/y/z velocity values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
Definition at line 1383 of file ObjectPositionInterface.cpp.
float fawkes::ObjectPositionInterface::relative_xyz_velocity_covariance | ( | unsigned int | index | ) | const |
Get relative_xyz_velocity_covariance value at given index.
Covariance of relative x/y/z velocity values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 1399 of file ObjectPositionInterface.cpp.
float fawkes::ObjectPositionInterface::relative_y | ( | ) | const |
Get relative_y value.
This is the Y coordinate in the cartesian right-handed robot coordinate system.
Definition at line 844 of file ObjectPositionInterface.cpp.
Referenced by LaserDrawingArea::draw_persons_legs(), WorldModelObjPosAverageFuser::fuse(), and WorldModelThread::loop().
float fawkes::ObjectPositionInterface::relative_y_velocity | ( | ) | const |
Get relative_y_velocity value.
Velocity of object in the world coordinate system in Y-direction in meter per second.
Definition at line 1311 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse().
float fawkes::ObjectPositionInterface::relative_z | ( | ) | const |
Get relative_z value.
This is the Z coordinate in the cartesian right-handed robot coordinate system.
Definition at line 879 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse().
float fawkes::ObjectPositionInterface::relative_z_velocity | ( | ) | const |
Get relative_z_velocity value.
Velocity of object in the world coordinate system in Z-direction in meter per second.
Definition at line 1346 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse().
float fawkes::ObjectPositionInterface::roll | ( | ) | const |
Get roll value.
Roll value for the orientation of the object in space.
Definition at line 322 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse().
void fawkes::ObjectPositionInterface::set_bearing | ( | const float | new_bearing | ) |
Set bearing value.
Angle between the robot's forward direction and the object on the ground plane. This angle is in a local 3D coordinate system to the robot and given in radians.
new_bearing | new bearing value |
Definition at line 488 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by WorldModelNetworkThread::ball_pos_rcvd(), LaserHtSensorProcThread::loop(), and WorldModelNetworkThread::opponent_pose_rcvd().
void fawkes::ObjectPositionInterface::set_dbs_covariance | ( | unsigned int | index, |
const float | new_dbs_covariance | ||
) |
Set dbs_covariance value at given index.
Covariance of Distance/Yaw/Pitch values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
new_dbs_covariance | new dbs_covariance value |
index | index for of the value |
Definition at line 601 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by WorldModelNetworkThread::ball_pos_rcvd(), and WorldModelNetworkThread::opponent_pose_rcvd().
void fawkes::ObjectPositionInterface::set_dbs_covariance | ( | const float * | new_dbs_covariance | ) |
Set dbs_covariance value.
Covariance of Distance/Yaw/Pitch values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
new_dbs_covariance | new dbs_covariance value |
Definition at line 585 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_distance | ( | const float | new_distance | ) |
Set distance value.
Distance from the robot to the object on the ground plane. The distance is given in meters.
new_distance | new distance value |
Definition at line 451 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by WorldModelNetworkThread::ball_pos_rcvd(), LaserHtSensorProcThread::loop(), and WorldModelNetworkThread::opponent_pose_rcvd().
void fawkes::ObjectPositionInterface::set_extent_x | ( | const float | new_extent_x | ) |
Set extent_x value.
Extent of the seen object given in the relative x cartesian coordinate in m.
new_extent_x | new extent_x value |
Definition at line 1012 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_extent_y | ( | const float | new_extent_y | ) |
Set extent_y value.
Extent of the seen object given in the relative y cartesian coordinate in m.
new_extent_y | new extent_y value |
Definition at line 1047 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_extent_z | ( | const float | new_extent_z | ) |
Set extent_z value.
Extent of the seen object given in the relative z cartesian coordinate in m.
new_extent_z | new extent_z value |
Definition at line 1082 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_flags | ( | const uint32_t | new_flags | ) |
Set flags value.
Bit-wise concatenated fields of FLAG_* constants. Denotes features that the writer of this interfaces provides. Use a bit-wise OR to concatenate multiple flags, use a bit-wise AND to check if a flag has been set.
new_flags | new flags value |
Definition at line 204 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by WorldModelNetworkThread::ball_pos_rcvd(), and WorldModelNetworkThread::global_ball_pos_rcvd().
void fawkes::ObjectPositionInterface::set_object_type | ( | const uint32_t | new_object_type | ) |
Set object_type value.
Object type, use constants to define
new_object_type | new object_type value |
Definition at line 165 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by LaserHtSensorProcThread::init().
void fawkes::ObjectPositionInterface::set_pitch | ( | const float | new_pitch | ) |
Set pitch value.
Pitch value for the orientation of the object in space.
new_pitch | new pitch value |
Definition at line 379 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_relative_x | ( | const float | new_relative_x | ) |
Set relative_x value.
This is the X coordinate in the cartesian right-handed robot coordinate system.
new_relative_x | new relative_x value |
Definition at line 831 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by LaserHtSensorProcThread::loop(), and PlayerPositionMapper::sync_player_to_fawkes().
void fawkes::ObjectPositionInterface::set_relative_x_velocity | ( | const float | new_relative_x_velocity | ) |
Set relative_x_velocity value.
Velocity of object in the world coordinate system in X-direction in meter per second.
new_relative_x_velocity | new relative_x_velocity value |
Definition at line 1298 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_relative_xyz_covariance | ( | unsigned int | index, |
const float | new_relative_xyz_covariance | ||
) |
Set relative_xyz_covariance value at given index.
Covariance of relative x/y/z values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
new_relative_xyz_covariance | new relative_xyz_covariance value |
index | index for of the value |
Definition at line 975 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_relative_xyz_covariance | ( | const float * | new_relative_xyz_covariance | ) |
Set relative_xyz_covariance value.
Covariance of relative x/y/z values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
new_relative_xyz_covariance | new relative_xyz_covariance value |
Definition at line 959 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_relative_xyz_velocity_covariance | ( | unsigned int | index, |
const float | new_relative_xyz_velocity_covariance | ||
) |
Set relative_xyz_velocity_covariance value at given index.
Covariance of relative x/y/z velocity values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
new_relative_xyz_velocity_covariance | new relative_xyz_velocity_covariance value |
index | index for of the value |
Definition at line 1442 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_relative_xyz_velocity_covariance | ( | const float * | new_relative_xyz_velocity_covariance | ) |
Set relative_xyz_velocity_covariance value.
Covariance of relative x/y/z velocity values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
new_relative_xyz_velocity_covariance | new relative_xyz_velocity_covariance value |
Definition at line 1426 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_relative_y | ( | const float | new_relative_y | ) |
Set relative_y value.
This is the Y coordinate in the cartesian right-handed robot coordinate system.
new_relative_y | new relative_y value |
Definition at line 866 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by LaserHtSensorProcThread::loop(), and PlayerPositionMapper::sync_player_to_fawkes().
void fawkes::ObjectPositionInterface::set_relative_y_velocity | ( | const float | new_relative_y_velocity | ) |
Set relative_y_velocity value.
Velocity of object in the world coordinate system in Y-direction in meter per second.
new_relative_y_velocity | new relative_y_velocity value |
Definition at line 1333 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_relative_z | ( | const float | new_relative_z | ) |
Set relative_z value.
This is the Z coordinate in the cartesian right-handed robot coordinate system.
new_relative_z | new relative_z value |
Definition at line 901 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by PlayerPositionMapper::sync_player_to_fawkes().
void fawkes::ObjectPositionInterface::set_relative_z_velocity | ( | const float | new_relative_z_velocity | ) |
Set relative_z_velocity value.
Velocity of object in the world coordinate system in Z-direction in meter per second.
new_relative_z_velocity | new relative_z_velocity value |
Definition at line 1368 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_roll | ( | const float | new_roll | ) |
Set roll value.
Roll value for the orientation of the object in space.
new_roll | new roll value |
Definition at line 344 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by LaserHtSensorProcThread::loop().
void fawkes::ObjectPositionInterface::set_slope | ( | const float | new_slope | ) |
Set slope value.
Angle between the robot's center position on the ground plane and the middle point of the object (e.g. this denotes the height of the object combined with the distance. The angle is given in radians.
new_slope | new slope value |
Definition at line 527 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by WorldModelNetworkThread::ball_pos_rcvd().
void fawkes::ObjectPositionInterface::set_valid | ( | const bool | new_valid | ) |
Set valid value.
True, if this position is valid.
new_valid | new valid value |
Definition at line 266 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by LaserHtSensorProcThread::finalize(), and LaserHtSensorProcThread::loop().
void fawkes::ObjectPositionInterface::set_visibility_history | ( | const int32_t | new_visibility_history | ) |
Set visibility_history value.
The visibilitiy history indicates the number of consecutive positive or negative sightings. If the history is negative, there have been as many negative sightings (object not visible) as the absolute value of the history. A positive value denotes as many positive sightings. 0 shall only be used during the initialisation of the interface or if the visibility history is not filled.
new_visibility_history | new visibility_history value |
Definition at line 309 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by WorldModelNetworkThread::ball_pos_rcvd(), and WorldModelNetworkThread::global_ball_pos_rcvd().
void fawkes::ObjectPositionInterface::set_visible | ( | const bool | new_visible | ) |
Set visible value.
True, if object is visible.
new_visible | new visible value |
Definition at line 235 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by WorldModelNetworkThread::ball_pos_rcvd(), WorldModelNetworkThread::global_ball_pos_rcvd(), and LaserHtSensorProcThread::loop().
void fawkes::ObjectPositionInterface::set_world_x | ( | const float | new_world_x | ) |
Set world_x value.
This is the X coordinate in the cartesian right-handed world coordinate system. This coordinate system has its origin in the center of the field, Y pointing to the opponent's goal and X pointing to the right.
new_world_x | new world_x value |
Definition at line 642 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by WorldModelNetworkThread::global_ball_pos_rcvd(), LaserHtSensorProcThread::loop(), and WorldModelNetworkThread::pose_rcvd().
void fawkes::ObjectPositionInterface::set_world_x_velocity | ( | const float | new_world_x_velocity | ) |
Set world_x_velocity value.
Velocity of object in the world coordinate system in X-direction in meter per second.
new_world_x_velocity | new world_x_velocity value |
Definition at line 1117 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_world_xyz_covariance | ( | unsigned int | index, |
const float | new_world_xyz_covariance | ||
) |
Set world_xyz_covariance value at given index.
Covariance of WorldX/WorldY/WorldZ values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
new_world_xyz_covariance | new world_xyz_covariance value |
index | index for of the value |
Definition at line 794 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by WorldModelNetworkThread::global_ball_pos_rcvd(), and WorldModelNetworkThread::pose_rcvd().
void fawkes::ObjectPositionInterface::set_world_xyz_covariance | ( | const float * | new_world_xyz_covariance | ) |
Set world_xyz_covariance value.
Covariance of WorldX/WorldY/WorldZ values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
new_world_xyz_covariance | new world_xyz_covariance value |
Definition at line 778 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_world_xyz_velocity_covariance | ( | unsigned int | index, |
const float | new_world_xyz_velocity_covariance | ||
) |
Set world_xyz_velocity_covariance value at given index.
Covariance of WorldX/WorldY/WorldZ velocity values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
new_world_xyz_velocity_covariance | new world_xyz_velocity_covariance value |
index | index for of the value |
Definition at line 1261 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_world_xyz_velocity_covariance | ( | const float * | new_world_xyz_velocity_covariance | ) |
Set world_xyz_velocity_covariance value.
Covariance of WorldX/WorldY/WorldZ velocity values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
new_world_xyz_velocity_covariance | new world_xyz_velocity_covariance value |
Definition at line 1245 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_world_y | ( | const float | new_world_y | ) |
Set world_y value.
This is the Y coordinate in the cartesian right-handed world coordinate system. This coordinate system has its origin in the center of the field, Y pointing to the opponent's goal and X pointing to the right and Z pointing downwards.
new_world_y | new world_y value |
Definition at line 681 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by WorldModelNetworkThread::global_ball_pos_rcvd(), LaserHtSensorProcThread::loop(), and WorldModelNetworkThread::pose_rcvd().
void fawkes::ObjectPositionInterface::set_world_y_velocity | ( | const float | new_world_y_velocity | ) |
Set world_y_velocity value.
Velocity of object in the world coordinate system in Y-direction in meter per second.
new_world_y_velocity | new world_y_velocity value |
Definition at line 1152 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_world_z | ( | const float | new_world_z | ) |
Set world_z value.
This is the Z coordinate in the cartesian right-handed world coordinate system. This coordinate system has its origin in the center of the field, Y pointing to the opponent's goal and X pointing to the right.
new_world_z | new world_z value |
Definition at line 720 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by WorldModelNetworkThread::global_ball_pos_rcvd(), and WorldModelNetworkThread::pose_rcvd().
void fawkes::ObjectPositionInterface::set_world_z_velocity | ( | const float | new_world_z_velocity | ) |
Set world_z_velocity value.
Velocity of object in the world coordinate system in Z-direction in meter per second.
new_world_z_velocity | new world_z_velocity value |
Definition at line 1187 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::ObjectPositionInterface::set_yaw | ( | const float | new_yaw | ) |
Set yaw value.
Yaw value for the orientation of the object in space.
new_yaw | new yaw value |
Definition at line 414 of file ObjectPositionInterface.cpp.
References fawkes::Interface::data_changed.
float fawkes::ObjectPositionInterface::slope | ( | ) | const |
Get slope value.
Angle between the robot's center position on the ground plane and the middle point of the object (e.g. this denotes the height of the object combined with the distance. The angle is given in radians.
Definition at line 503 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse().
int32_t fawkes::ObjectPositionInterface::visibility_history | ( | ) | const |
Get visibility_history value.
The visibilitiy history indicates the number of consecutive positive or negative sightings. If the history is negative, there have been as many negative sightings (object not visible) as the absolute value of the history. A positive value denotes as many positive sightings. 0 shall only be used during the initialisation of the interface or if the visibility history is not filled.
Definition at line 283 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse(), and WorldModelThread::loop().
float fawkes::ObjectPositionInterface::world_x | ( | ) | const |
Get world_x value.
This is the X coordinate in the cartesian right-handed world coordinate system. This coordinate system has its origin in the center of the field, Y pointing to the opponent's goal and X pointing to the right.
Definition at line 618 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse(), BallPosLogThread::loop(), and WorldModelThread::loop().
float fawkes::ObjectPositionInterface::world_x_velocity | ( | ) | const |
Get world_x_velocity value.
Velocity of object in the world coordinate system in X-direction in meter per second.
Definition at line 1095 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse(), and WorldModelThread::loop().
float * fawkes::ObjectPositionInterface::world_xyz_covariance | ( | ) | const |
Get world_xyz_covariance value.
Covariance of WorldX/WorldY/WorldZ values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
Definition at line 735 of file ObjectPositionInterface.cpp.
Referenced by WorldModelThread::loop().
float fawkes::ObjectPositionInterface::world_xyz_covariance | ( | unsigned int | index | ) | const |
Get world_xyz_covariance value at given index.
Covariance of WorldX/WorldY/WorldZ values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 751 of file ObjectPositionInterface.cpp.
float * fawkes::ObjectPositionInterface::world_xyz_velocity_covariance | ( | ) | const |
Get world_xyz_velocity_covariance value.
Covariance of WorldX/WorldY/WorldZ velocity values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
Definition at line 1202 of file ObjectPositionInterface.cpp.
Referenced by WorldModelThread::loop().
float fawkes::ObjectPositionInterface::world_xyz_velocity_covariance | ( | unsigned int | index | ) | const |
Get world_xyz_velocity_covariance value at given index.
Covariance of WorldX/WorldY/WorldZ velocity values. This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 1218 of file ObjectPositionInterface.cpp.
float fawkes::ObjectPositionInterface::world_y | ( | ) | const |
Get world_y value.
This is the Y coordinate in the cartesian right-handed world coordinate system. This coordinate system has its origin in the center of the field, Y pointing to the opponent's goal and X pointing to the right and Z pointing downwards.
Definition at line 657 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse(), BallPosLogThread::loop(), and WorldModelThread::loop().
float fawkes::ObjectPositionInterface::world_y_velocity | ( | ) | const |
Get world_y_velocity value.
Velocity of object in the world coordinate system in Y-direction in meter per second.
Definition at line 1130 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse(), and WorldModelThread::loop().
float fawkes::ObjectPositionInterface::world_z | ( | ) | const |
Get world_z value.
This is the Z coordinate in the cartesian right-handed world coordinate system. This coordinate system has its origin in the center of the field, Y pointing to the opponent's goal and X pointing to the right.
Definition at line 696 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse(), and WorldModelThread::loop().
float fawkes::ObjectPositionInterface::world_z_velocity | ( | ) | const |
Get world_z_velocity value.
Velocity of object in the world coordinate system in Z-direction in meter per second.
Definition at line 1165 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse(), and WorldModelThread::loop().
float fawkes::ObjectPositionInterface::yaw | ( | ) | const |
Get yaw value.
Yaw value for the orientation of the object in space.
Definition at line 392 of file ObjectPositionInterface.cpp.
Referenced by WorldModelObjPosAverageFuser::fuse(), and WorldModelThread::loop().
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static |
FLAG_HAS_CIRCULAR_EXTENT constant.
Definition at line 55 of file ObjectPositionInterface.h.
|
static |
FLAG_HAS_COVARIANCES constant.
Definition at line 56 of file ObjectPositionInterface.h.
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static |
FLAG_HAS_EULER_ANGLES constant.
Definition at line 52 of file ObjectPositionInterface.h.
Referenced by WorldModelObjPosAverageFuser::fuse().
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static |
FLAG_HAS_EXTENT constant.
Definition at line 53 of file ObjectPositionInterface.h.
Referenced by WorldModelObjPosAverageFuser::fuse().
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static |
FLAG_HAS_RELATIVE_CARTESIAN constant.
Definition at line 50 of file ObjectPositionInterface.h.
Referenced by WorldModelObjPosAverageFuser::fuse(), and WorldModelObjPosMajorityFuser::fuse().
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static |
FLAG_HAS_RELATIVE_POLAR constant.
Definition at line 51 of file ObjectPositionInterface.h.
Referenced by WorldModelObjPosAverageFuser::fuse(), and WorldModelObjPosMajorityFuser::fuse().
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static |
FLAG_HAS_VOLUME_EXTENT constant.
Definition at line 54 of file ObjectPositionInterface.h.
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FLAG_HAS_WORLD constant.
Definition at line 49 of file ObjectPositionInterface.h.
Referenced by WorldModelObjPosAverageFuser::fuse(), and WorldModelObjPosMajorityFuser::fuse().
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FLAG_HAS_WORLD_VELOCITY constant.
Definition at line 57 of file ObjectPositionInterface.h.
Referenced by WorldModelObjPosAverageFuser::fuse().
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FLAG_HAS_Z_AS_ORI constant.
Definition at line 58 of file ObjectPositionInterface.h.
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FLAG_IS_FIXED_OBJECT constant.
Definition at line 59 of file ObjectPositionInterface.h.
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FLAG_NONE constant.
Definition at line 48 of file ObjectPositionInterface.h.
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TYPE_BALL constant.
Definition at line 41 of file ObjectPositionInterface.h.
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TYPE_GOAL_BLUE constant.
Definition at line 46 of file ObjectPositionInterface.h.
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TYPE_GOAL_YELLOW constant.
Definition at line 47 of file ObjectPositionInterface.h.
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TYPE_LINE constant.
Definition at line 44 of file ObjectPositionInterface.h.
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TYPE_OPPONENT constant.
Definition at line 42 of file ObjectPositionInterface.h.
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TYPE_OTHER constant.
Definition at line 40 of file ObjectPositionInterface.h.
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TYPE_SELF constant.
Definition at line 45 of file ObjectPositionInterface.h.
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TYPE_TEAMMEMBER constant.
Definition at line 43 of file ObjectPositionInterface.h.