fawkes::ObjectPositionInterface Class Reference
[Fawkes Interfaces]

ObjectPositionInterface Fawkes BlackBoard Interface. More...

#include <interfaces/ObjectPositionInterface.h>

Inheritance diagram for fawkes::ObjectPositionInterface:

[legend]
List of all members.

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 Messagecreate_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.

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.

Classes

struct  ObjectPositionInterface_data_t
 Internal data storage, do NOT modify!

Detailed Description

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.


Member Function Documentation

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.

Returns:
bearing value

Definition at line 465 of file ObjectPositionInterface.cpp.

void fawkes::ObjectPositionInterface::copy_values ( const Interface other  )  [virtual]

Copy values from other interface.

Parameters:
other other interface to copy values from

Implements fawkes::Interface.

Definition at line 1458 of file ObjectPositionInterface.cpp.

References data, and fawkes::Interface::type().

Message * fawkes::ObjectPositionInterface::create_message ( const char *  type  )  const [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.

Parameters:
type message type
Returns:
message of the given type, empty
Exceptions:
UnknownTypeException thrown if this interface cannot create a message of the given type.

Implements fawkes::Interface.

Definition at line 1447 of file ObjectPositionInterface.cpp.

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.

Parameters:
index index of value
Returns:
dbs_covariance value
Exceptions:
Exception thrown if index is out of bounds

Definition at line 558 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.

Returns:
dbs_covariance value

Definition at line 542 of file ObjectPositionInterface.cpp.

Referenced by WorldModelThread::loop().

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.

Returns:
distance value

Definition at line 428 of file ObjectPositionInterface.cpp.

Referenced by WorldModelObjPosMajorityFuser::fuse().

const char * fawkes::ObjectPositionInterface::enum_tostring ( const char *  enumtype,
int  val 
) const [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.

Parameters:
enumtype enum type as string
val value to convert
Returns:
string representation of value
Exceptions:
UnknownTypeException thrown if enumtype is not specified for interface.

Implements fawkes::Interface.

Definition at line 1469 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.

Returns:
extent_x value

Definition at line 987 of file ObjectPositionInterface.cpp.

float fawkes::ObjectPositionInterface::extent_y (  )  const

Get extent_y value.

Extent of the seen object given in the relative y cartesian coordinate in m.

Returns:
extent_y value

Definition at line 1022 of file ObjectPositionInterface.cpp.

float fawkes::ObjectPositionInterface::extent_z (  )  const

Get extent_z value.

Extent of the seen object given in the relative z cartesian coordinate in m.

Returns:
extent_z value

Definition at line 1057 of file ObjectPositionInterface.cpp.

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.

Returns:
flags value

Definition at line 180 of file ObjectPositionInterface.cpp.

Referenced by WorldModelNetworkThread::ball_pos_rcvd(), 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.

Returns:
valid value

Reimplemented from fawkes::Interface.

Definition at line 246 of file ObjectPositionInterface.cpp.

Referenced by LaserDrawingArea::draw_persons_legs(), WorldModelObjPosMajorityFuser::fuse(), WorldModelThread::loop(), and LaserDrawingArea::on_expose_event().

bool fawkes::ObjectPositionInterface::is_visible (  )  const

Get visible value.

True, if object is visible.

Returns:
visible value

Definition at line 215 of file ObjectPositionInterface.cpp.

Referenced by WorldModelObjPosMajorityFuser::fuse(), WorldModelThread::loop(), and LaserDrawingArea::on_expose_event().

size_t fawkes::ObjectPositionInterface::maxlenof_bearing (  )  const

Get maximum length of bearing value.

Returns:
length of bearing value, can be length of the array or number of maximum number of characters for a string

Definition at line 475 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_dbs_covariance (  )  const

Get maximum length of dbs_covariance value.

Returns:
length of dbs_covariance value, can be length of the array or number of maximum number of characters for a string

Definition at line 571 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_distance (  )  const

Get maximum length of distance value.

Returns:
length of distance value, can be length of the array or number of maximum number of characters for a string

Definition at line 438 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_extent_x (  )  const

Get maximum length of extent_x value.

Returns:
length of extent_x value, can be length of the array or number of maximum number of characters for a string

Definition at line 997 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_extent_y (  )  const

Get maximum length of extent_y value.

Returns:
length of extent_y value, can be length of the array or number of maximum number of characters for a string

Definition at line 1032 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_extent_z (  )  const

Get maximum length of extent_z value.

Returns:
length of extent_z value, can be length of the array or number of maximum number of characters for a string

Definition at line 1067 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_flags (  )  const

Get maximum length of flags value.

Returns:
length of flags value, can be length of the array or number of maximum number of characters for a string

Definition at line 190 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_object_type (  )  const

Get maximum length of object_type value.

Returns:
length of object_type value, can be length of the array or number of maximum number of characters for a string

Definition at line 153 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_pitch (  )  const

Get maximum length of pitch value.

Returns:
length of pitch value, can be length of the array or number of maximum number of characters for a string

Definition at line 367 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_relative_x (  )  const

Get maximum length of relative_x value.

Returns:
length of relative_x value, can be length of the array or number of maximum number of characters for a string

Definition at line 817 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_relative_x_velocity (  )  const

Get maximum length of relative_x_velocity value.

Returns:
length of relative_x_velocity value, can be length of the array or number of maximum number of characters for a string

Definition at line 1282 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_relative_xyz_covariance (  )  const

Get maximum length of relative_xyz_covariance value.

Returns:
length of relative_xyz_covariance value, can be length of the array or number of maximum number of characters for a string

Definition at line 943 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_relative_xyz_velocity_covariance (  )  const

Get maximum length of relative_xyz_velocity_covariance value.

Returns:
length of relative_xyz_velocity_covariance value, can be length of the array or number of maximum number of characters for a string

Definition at line 1408 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_relative_y (  )  const

Get maximum length of relative_y value.

Returns:
length of relative_y value, can be length of the array or number of maximum number of characters for a string

Definition at line 852 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_relative_y_velocity (  )  const

Get maximum length of relative_y_velocity value.

Returns:
length of relative_y_velocity value, can be length of the array or number of maximum number of characters for a string

Definition at line 1317 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_relative_z (  )  const

Get maximum length of relative_z value.

Returns:
length of relative_z value, can be length of the array or number of maximum number of characters for a string

Definition at line 887 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_relative_z_velocity (  )  const

Get maximum length of relative_z_velocity value.

Returns:
length of relative_z_velocity value, can be length of the array or number of maximum number of characters for a string

Definition at line 1352 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_roll (  )  const

Get maximum length of roll value.

Returns:
length of roll value, can be length of the array or number of maximum number of characters for a string

Definition at line 332 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_slope (  )  const

Get maximum length of slope value.

Returns:
length of slope value, can be length of the array or number of maximum number of characters for a string

Definition at line 513 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_valid (  )  const

Get maximum length of valid value.

Returns:
length of valid value, can be length of the array or number of maximum number of characters for a string

Definition at line 256 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_visibility_history (  )  const

Get maximum length of visibility_history value.

Returns:
length of visibility_history value, can be length of the array or number of maximum number of characters for a string

Definition at line 293 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_visible (  )  const

Get maximum length of visible value.

Returns:
length of visible value, can be length of the array or number of maximum number of characters for a string

Definition at line 225 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_world_x (  )  const

Get maximum length of world_x value.

Returns:
length of world_x value, can be length of the array or number of maximum number of characters for a string

Definition at line 627 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_world_x_velocity (  )  const

Get maximum length of world_x_velocity value.

Returns:
length of world_x_velocity value, can be length of the array or number of maximum number of characters for a string

Definition at line 1102 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_world_xyz_covariance (  )  const

Get maximum length of world_xyz_covariance value.

Returns:
length of world_xyz_covariance value, can be length of the array or number of maximum number of characters for a string

Definition at line 763 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_world_xyz_velocity_covariance (  )  const

Get maximum length of world_xyz_velocity_covariance value.

Returns:
length of world_xyz_velocity_covariance value, can be length of the array or number of maximum number of characters for a string

Definition at line 1228 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_world_y (  )  const

Get maximum length of world_y value.

Returns:
length of world_y value, can be length of the array or number of maximum number of characters for a string

Definition at line 666 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_world_y_velocity (  )  const

Get maximum length of world_y_velocity value.

Returns:
length of world_y_velocity value, can be length of the array or number of maximum number of characters for a string

Definition at line 1137 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_world_z (  )  const

Get maximum length of world_z value.

Returns:
length of world_z value, can be length of the array or number of maximum number of characters for a string

Definition at line 705 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_world_z_velocity (  )  const

Get maximum length of world_z_velocity value.

Returns:
length of world_z_velocity value, can be length of the array or number of maximum number of characters for a string

Definition at line 1172 of file ObjectPositionInterface.cpp.

size_t fawkes::ObjectPositionInterface::maxlenof_yaw (  )  const

Get maximum length of yaw value.

Returns:
length of yaw value, can be length of the array or number of maximum number of characters for a string

Definition at line 402 of file ObjectPositionInterface.cpp.

bool fawkes::ObjectPositionInterface::message_valid ( const Message message  )  const [virtual]

Check if message is valid and can be enqueued.

Parameters:
message Message to check
Returns:
true if the message is valid, false otherwise.

Implements fawkes::Interface.

Definition at line 1480 of file ObjectPositionInterface.cpp.

uint32_t fawkes::ObjectPositionInterface::object_type (  )  const

Get object_type value.

Object type, use constants to define

Returns:
object_type value

Definition at line 143 of file ObjectPositionInterface.cpp.

float fawkes::ObjectPositionInterface::pitch (  )  const

Get pitch value.

Pitch value for the orientation of the object in space.

Returns:
pitch value

Definition at line 357 of file ObjectPositionInterface.cpp.

float fawkes::ObjectPositionInterface::relative_x (  )  const

Get relative_x value.

This is the X coordinate in the cartesian right-handed robot coordinate system.

Returns:
relative_x value

Definition at line 807 of file ObjectPositionInterface.cpp.

Referenced by LaserDrawingArea::draw_persons_legs(), WorldModelThread::loop(), and LaserDrawingArea::on_expose_event().

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.

Returns:
relative_x_velocity value

Definition at line 1272 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.

Parameters:
index index of value
Returns:
relative_xyz_covariance value
Exceptions:
Exception thrown if index is out of bounds

Definition at line 930 of file ObjectPositionInterface.cpp.

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.

Returns:
relative_xyz_covariance value

Definition at line 914 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.

Parameters:
index index of value
Returns:
relative_xyz_velocity_covariance value
Exceptions:
Exception thrown if index is out of bounds

Definition at line 1395 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.

Returns:
relative_xyz_velocity_covariance value

Definition at line 1379 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.

Returns:
relative_y value

Definition at line 842 of file ObjectPositionInterface.cpp.

Referenced by LaserDrawingArea::draw_persons_legs(), WorldModelThread::loop(), and LaserDrawingArea::on_expose_event().

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.

Returns:
relative_y_velocity value

Definition at line 1307 of file ObjectPositionInterface.cpp.

float fawkes::ObjectPositionInterface::relative_z (  )  const

Get relative_z value.

This is the Z coordinate in the cartesian right-handed robot coordinate system.

Returns:
relative_z value

Definition at line 877 of file ObjectPositionInterface.cpp.

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.

Returns:
relative_z_velocity value

Definition at line 1342 of file ObjectPositionInterface.cpp.

float fawkes::ObjectPositionInterface::roll (  )  const

Get roll value.

Roll value for the orientation of the object in space.

Returns:
roll value

Definition at line 322 of file ObjectPositionInterface.cpp.

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.

Parameters:
new_bearing new bearing value

Definition at line 488 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelNetworkThread::ball_pos_rcvd(), WorldModelObjPosAverageFuser::fuse(), LaserHtSensorProcThread::loop(), 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.

Parameters:
new_dbs_covariance new dbs_covariance value

Definition at line 585 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

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.

Parameters:
new_dbs_covariance new dbs_covariance value
index index for of the value

Definition at line 601 of file ObjectPositionInterface.cpp.

Referenced by WorldModelNetworkThread::ball_pos_rcvd(), and WorldModelNetworkThread::opponent_pose_rcvd().

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.

Parameters:
new_distance new distance value

Definition at line 451 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelNetworkThread::ball_pos_rcvd(), WorldModelObjPosAverageFuser::fuse(), 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.

Parameters:
new_extent_x new extent_x value

Definition at line 1009 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse().

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.

Parameters:
new_extent_y new extent_y value

Definition at line 1044 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse().

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.

Parameters:
new_extent_z new extent_z value

Definition at line 1079 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse().

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.

Parameters:
new_flags new flags value

Definition at line 204 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelNetworkThread::ball_pos_rcvd(), WorldModelObjPosAverageFuser::fuse(), 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

Parameters:
new_object_type new object_type value

Definition at line 165 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::ObjectPositionInterface::set_pitch ( const float  new_pitch  ) 

Set pitch value.

Pitch value for the orientation of the object in space.

Parameters:
new_pitch new pitch value

Definition at line 379 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse().

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.

Parameters:
new_relative_x new relative_x value

Definition at line 829 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse(), 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.

Parameters:
new_relative_x_velocity new relative_x_velocity value

Definition at line 1294 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse().

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.

Parameters:
new_relative_xyz_covariance new relative_xyz_covariance value

Definition at line 957 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.

Parameters:
new_relative_xyz_covariance new relative_xyz_covariance value
index index for of the value

Definition at line 973 of file ObjectPositionInterface.cpp.

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.

Parameters:
new_relative_xyz_velocity_covariance new relative_xyz_velocity_covariance value

Definition at line 1422 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.

Parameters:
new_relative_xyz_velocity_covariance new relative_xyz_velocity_covariance value
index index for of the value

Definition at line 1438 of file ObjectPositionInterface.cpp.

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.

Parameters:
new_relative_y new relative_y value

Definition at line 864 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse(), 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.

Parameters:
new_relative_y_velocity new relative_y_velocity value

Definition at line 1329 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse().

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.

Parameters:
new_relative_z new relative_z value

Definition at line 899 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse(), and 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.

Parameters:
new_relative_z_velocity new relative_z_velocity value

Definition at line 1364 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse().

void fawkes::ObjectPositionInterface::set_roll ( const float  new_roll  ) 

Set roll value.

Roll value for the orientation of the object in space.

Parameters:
new_roll new roll value

Definition at line 344 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse(), and 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.

Parameters:
new_slope new slope value

Definition at line 527 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelNetworkThread::ball_pos_rcvd(), and WorldModelObjPosAverageFuser::fuse().

void fawkes::ObjectPositionInterface::set_valid ( const bool  new_valid  ) 

Set valid value.

True, if this position is valid.

Parameters:
new_valid new valid value

Definition at line 266 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by LaserHtSensorProcThread::finalize(), WorldModelObjPosAverageFuser::fuse(), 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.

Parameters:
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(), WorldModelObjPosAverageFuser::fuse(), and WorldModelNetworkThread::global_ball_pos_rcvd().

void fawkes::ObjectPositionInterface::set_visible ( const bool  new_visible  ) 

Set visible value.

True, if object is visible.

Parameters:
new_visible new visible value

Definition at line 235 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelNetworkThread::ball_pos_rcvd(), WorldModelObjPosAverageFuser::fuse(), 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.

Parameters:
new_world_x new world_x value

Definition at line 641 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse(), 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.

Parameters:
new_world_x_velocity new world_x_velocity value

Definition at line 1114 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse().

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.

Parameters:
new_world_xyz_covariance new world_xyz_covariance value

Definition at line 777 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.

Parameters:
new_world_xyz_covariance new world_xyz_covariance value
index index for of the value

Definition at line 793 of file ObjectPositionInterface.cpp.

Referenced by WorldModelNetworkThread::global_ball_pos_rcvd(), and WorldModelNetworkThread::pose_rcvd().

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.

Parameters:
new_world_xyz_velocity_covariance new world_xyz_velocity_covariance value

Definition at line 1242 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.

Parameters:
new_world_xyz_velocity_covariance new world_xyz_velocity_covariance value
index index for of the value

Definition at line 1258 of file ObjectPositionInterface.cpp.

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.

Parameters:
new_world_y new world_y value

Definition at line 680 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse(), 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.

Parameters:
new_world_y_velocity new world_y_velocity value

Definition at line 1149 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse().

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.

Parameters:
new_world_z new world_z value

Definition at line 719 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse(), 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.

Parameters:
new_world_z_velocity new world_z_velocity value

Definition at line 1184 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse().

void fawkes::ObjectPositionInterface::set_yaw ( const float  new_yaw  ) 

Set yaw value.

Yaw value for the orientation of the object in space.

Parameters:
new_yaw new yaw value

Definition at line 414 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by WorldModelObjPosAverageFuser::fuse().

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.

Returns:
slope value

Definition at line 503 of file ObjectPositionInterface.cpp.

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.

Returns:
visibility_history value

Definition at line 283 of file ObjectPositionInterface.cpp.

Referenced by 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.

Returns:
world_x value

Definition at line 617 of file ObjectPositionInterface.cpp.

Referenced by WorldModelThread::loop(), BallPosLogThread::loop(), and LaserDrawingArea::on_expose_event().

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.

Returns:
world_x_velocity value

Definition at line 1092 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.

Parameters:
index index of value
Returns:
world_xyz_covariance value
Exceptions:
Exception thrown if index is out of bounds

Definition at line 750 of file ObjectPositionInterface.cpp.

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.

Returns:
world_xyz_covariance value

Definition at line 734 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.

Parameters:
index index of value
Returns:
world_xyz_velocity_covariance value
Exceptions:
Exception thrown if index is out of bounds

Definition at line 1215 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.

Returns:
world_xyz_velocity_covariance value

Definition at line 1199 of file ObjectPositionInterface.cpp.

Referenced by WorldModelThread::loop().

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.

Returns:
world_y value

Definition at line 656 of file ObjectPositionInterface.cpp.

Referenced by WorldModelThread::loop(), BallPosLogThread::loop(), and LaserDrawingArea::on_expose_event().

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.

Returns:
world_y_velocity value

Definition at line 1127 of file ObjectPositionInterface.cpp.

Referenced by 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.

Returns:
world_z value

Definition at line 695 of file ObjectPositionInterface.cpp.

Referenced by 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.

Returns:
world_z_velocity value

Definition at line 1162 of file ObjectPositionInterface.cpp.

Referenced by WorldModelThread::loop().

float fawkes::ObjectPositionInterface::yaw (  )  const

Get yaw value.

Yaw value for the orientation of the object in space.

Returns:
yaw value

Definition at line 392 of file ObjectPositionInterface.cpp.

Referenced by WorldModelThread::loop().


Member Data Documentation

const uint32_t fawkes::ObjectPositionInterface::FLAG_HAS_CIRCULAR_EXTENT = 64u [static]

FLAG_HAS_CIRCULAR_EXTENT constant.

Definition at line 55 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::FLAG_HAS_COVARIANCES = 128u [static]

FLAG_HAS_COVARIANCES constant.

Definition at line 56 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::FLAG_HAS_EULER_ANGLES = 8u [static]

FLAG_HAS_EULER_ANGLES constant.

Definition at line 52 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::FLAG_HAS_EXTENT = 16u [static]

FLAG_HAS_EXTENT constant.

Definition at line 53 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::FLAG_HAS_RELATIVE_CARTESIAN = 2u [static]

FLAG_HAS_RELATIVE_CARTESIAN constant.

Definition at line 50 of file ObjectPositionInterface.h.

Referenced by WorldModelObjPosMajorityFuser::fuse().

const uint32_t fawkes::ObjectPositionInterface::FLAG_HAS_RELATIVE_POLAR = 4u [static]

FLAG_HAS_RELATIVE_POLAR constant.

Definition at line 51 of file ObjectPositionInterface.h.

Referenced by WorldModelObjPosMajorityFuser::fuse().

const uint32_t fawkes::ObjectPositionInterface::FLAG_HAS_VOLUME_EXTENT = 32u [static]

FLAG_HAS_VOLUME_EXTENT constant.

Definition at line 54 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::FLAG_HAS_WORLD = 1u [static]

FLAG_HAS_WORLD constant.

Definition at line 49 of file ObjectPositionInterface.h.

Referenced by WorldModelObjPosMajorityFuser::fuse().

const uint32_t fawkes::ObjectPositionInterface::FLAG_HAS_WORLD_VELOCITY = 256u [static]

FLAG_HAS_WORLD_VELOCITY constant.

Definition at line 57 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::FLAG_HAS_Z_AS_ORI = 512u [static]

FLAG_HAS_Z_AS_ORI constant.

Definition at line 58 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::FLAG_IS_FIXED_OBJECT = 1024u [static]

FLAG_IS_FIXED_OBJECT constant.

Definition at line 59 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::FLAG_NONE = 0u [static]

FLAG_NONE constant.

Definition at line 48 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::TYPE_BALL = 1u [static]

TYPE_BALL constant.

Definition at line 41 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::TYPE_GOAL_BLUE = 6u [static]

TYPE_GOAL_BLUE constant.

Definition at line 46 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::TYPE_GOAL_YELLOW = 7u [static]

TYPE_GOAL_YELLOW constant.

Definition at line 47 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::TYPE_LINE = 4u [static]

TYPE_LINE constant.

Definition at line 44 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::TYPE_OPPONENT = 2u [static]

TYPE_OPPONENT constant.

Definition at line 42 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::TYPE_OTHER = 0u [static]

TYPE_OTHER constant.

Definition at line 40 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::TYPE_SELF = 5u [static]

TYPE_SELF constant.

Definition at line 45 of file ObjectPositionInterface.h.

const uint32_t fawkes::ObjectPositionInterface::TYPE_TEAMMEMBER = 3u [static]

TYPE_TEAMMEMBER constant.

Definition at line 43 of file ObjectPositionInterface.h.


The documentation for this class was generated from the following files:
Generated on Tue Feb 22 13:31:36 2011 for Fawkes API by  doxygen 1.4.7