# Ball Symbols Symbols for the position of the ball The formalized behavior references a variety of input and output symbols, which can stand for variables or functions of the agent's software. Constants are constant decimal values. ## Input Symbols
Name | Type | Measure | Description
ball.number-of-images-with-ball-percept | decimal |  | The number of consecutive images with a detected ball
ball.number-of-images-without-ball-percept | decimal |  | The number of consecutive images without a detected ball
ball.angle-to-opponent-goal | decimal | degree | Angle to the opponent goal.
ball.average-distance | decimal | mm | the average distance to the ball in the last two seconds
ball.ball-was-seen | boolean | true/ false | Indicates if the ball was seen in the last image
ball.seen.distance | decimal | mm | disctance to the seen ball
ball.seen.distance-to-border | decimal | mm | disctance from the seen ball to fieldborders
ball.seen.angle | decimal | deg | angle to the seen ball
ball.seen.x | decimal | mm | absolute x position of the seen ball
ball.seen.y | decimal | mm | absolute y position of the seen ball
ball.seen.speed | decimal | mm-per-s | absolute estimated moving speed of the ball
ball.seen.relative-speed.x | decimal | mm-per-s | robot relative x of estimated moving speed of the ball
ball.seen.relative-speed.y | decimal | mm-per-s | robot relative y of estimated moving speed of the ball
ball.seen.distance-to-own-penalty-area | decimal | mm | distance of the seen ball to the own penalty area
ball.seen.distance-x | decimal | mm | relative x position of the seen ball
ball.seen.distance-y | decimal | mm | relative y position of the seen ball
ball.seen.ball-in-front-of-opponent-goal | boolean | true/ false | ball seen in front of opponent goal
ball.seen.relative-x | decimal | mm | robot relative x position of the ball
ball.seen.relative-y | decimal | mm | robot relative y position of the ball
ball.seen.position.probability | decimal |  | Seen position.
ball.seen.speed.x | decimal | mm-per-s | Absolute speed in x-direction.
ball.seen.speed.y | decimal | mm-per-s | Absolute speed in y-direction.
ball.seen.speed.probability | decimal |  | Seen velocity.
ball.time-since-last-seen | decimal | ms | the time since the ball was seen last
ball.consecutively-seen-time | decimal | ms | the time for how long the ball was last consecutively seen
ball.time-since-last-seen-consecutively | decimal | ms | the time since the ball was seen consecutively last
ball.just-seen | boolean | true/ false | the ball was just seen
ball.known-or-near.angle | decimal | deg | Known or near (seen, propagated or communicated) angle to ball.
ball.known-or-near.distance | decimal | mm | Known or near (seen, propagated or communicated) distance to ball.
ball.known-or-near.x | decimal | mm | Known or near (seen, propagated or communicated) ball x-position.
ball.known-or-near.y | decimal | mm | Known or near (seen, propagated or communicated) ball y-position.
ball.known-or-near.relative-x | decimal | mm | Known or near (seen, propagated or communicated) relative ball x-position.
ball.known-or-near.probability | decimal |  | Known or near (seen, propagated or communicated) validity.
ball.known-or-near.relative-y | decimal | mm | Known or near (seen, propagated or communicated) relative ball y-position.
ball.known-or-near-speed.x | decimal | mm/s | Known or near (seen, propagated or communicated) ball x-speed.
ball.known-or-near-speed.y | decimal | mm/s | Known or near (seen, propagated or communicated) ball y-speed.
ball.known-or-near-speed | decimal | mm/s | Known or near (seen, propagated or communicated) ball y-speed.
ball.known-or-near-relative-speed.x | decimal | mm/s | Known or near (seen, propagated or communicated) ball x-speed.
ball.known-or-near-relative-speed.y | decimal | mm/s | Known or near (seen, propagated or communicated) ball y-speed.
ball.known.distance | decimal | mm | distance to the known ball
ball.known.angle | decimal | deg | angle to the known ball
ball.known.x | decimal | mm | absolute x position of the known ball
ball.known.y | decimal | mm | absolute y position of the known ball
ball.hypothetical.x | decimal | mm | absolute x position of the hypothetical ball
ball.hypothetical.y | decimal | mm | absolute y position of the hypothetical ball
ball.hypothetical.distance | decimal | mm | relative distance of the hypothetical ball
ball.hypothetical.angle | decimal | degree | absolute angle of the hypothetical ball to the robot
ball.propagated.angle | decimal | deg | Propagated angle.
ball.propagated.distance | decimal | mm | Propagated distance.
ball.propagated.position.probability | decimal |  | Propagated position validity.
ball.propagated.relative-x | decimal | mm | Propagated relative x-position.
ball.propagated.relative-y | decimal | mm | Propagated relative y-position.
ball.propagated.relative-speed.x | decimal | mm-per-s | Propagated ball velocity in x-direction.
ball.propagated.relative-speed.y | decimal | mm-per-s | Propagated ball velocity in y-direction.
ball.propagated.speed.probability | decimal |  | Propagated velocity validity.
ball.propagated.speed.x | decimal | mm-per-s | Propagated ball velocity in x-direction.
ball.propagated.speed.y | decimal | mm-per-s | Propagated ball velocity in y-direction.
ball.propagated.x | decimal | mm | Propagated absolute x-position.
ball.propagated.y | decimal | mm | Propagated absolute y-position.
ball.positionValidity | decimal | 0...1 | validity of calculated position
ball.speedValidity | decimal | 0...1 | validity of calculated speed
ball.time-since-last-known | decimal | ms | the time since the ball was known last
ball.time-after-which-communicated-balls-are-accepted | decimal | ms | the time after that communicated balls are accepted for the known position
ball.projected-distance-on-y-axis | decimal | mm | Projected Distance of the ball to the y axis of the robot.
ball.distance-to-use-seen-max | decimal |  | Max distance to use seen.
ball.time-until-ball-crosses-y-axis | decimal | ms | Time until the ball crosses the y axis of the robot.
ball.play-ball-precisely | boolean | true/ false | Penalty-shooter is active and handling ball shoud be precisely
ball.rolls-by-left | boolean | true/ false | If true, the ball rolls by left in a short distance
ball.rolls-by-right | boolean | true/ false | If true, the ball rolls by right in a short distance
ball.rolls-far-by-left | boolean | true/ false | If true, the ball rolls by left in a wide distance
ball.rolls-far-by-right | boolean | true/ false | If true, the ball rolls by right in a wide distance
ball.rolls-towards-robot | boolean | true/ false | If true, the ball rolls towards the robot
ball.rolls-fast | boolean | true/ false | If true, the ball has a high speed in any direction
ball.time-after-which-propagated-are-used | decimal |  | Time after which propagated are used.
ball.known-or-near.distance-to-own-penalty-area | decimal |  | The distance of the known or near ball to the own penalty area.
ball.known-or-near.angle-to-own-goal | decimal |  | The angle of the ball to the own goal.
ball.interception-point.x | decimal |  | The x-position of the interception point
ball.interception-point.y | decimal |  | The y-position of the interception point
ball.ball-can-be-intercepted | boolean | true/ false | If true, the robot is able to intercept the ball
## Output Symbols
Name | Type | Measure | Description
ball.precision | enumerated | precision.penalty-shooter precision.player | Penalty-shooter is executed