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fawkes::worldinfo_relballpos_message_t Struct Reference

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

Detailed Description

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.

Member Data Documentation

float fawkes::worldinfo_relballpos_message_t::bearing

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().

float fawkes::worldinfo_relballpos_message_t::dist

distance to the robot

Definition at line 122 of file messages.h.

Referenced by fawkes::WorldInfoTransceiver::recv(), and fawkes::WorldInfoTransceiver::send().

int32_t fawkes::worldinfo_relballpos_message_t::history

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().

int32_t fawkes::worldinfo_relballpos_message_t::reserved

reserved for future use.

Definition at line 119 of file messages.h.

float fawkes::worldinfo_relballpos_message_t::slope

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().

int32_t fawkes::worldinfo_relballpos_message_t::visible

-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().


The documentation for this struct was generated from the following file: