BallState Class Reference

Base class for a ball state. More...

#include <BallModel.h>

Inheritance diagram for BallState:

[legend]Collaboration diagram for BallState:

[legend]List of all members.

Public Member Functions
	BallState ()
	Standard constructor initializing the ball state.
void	reset ()
	Resets all data of the ball state.
void	setBallDataRelativeToRobot (const RobotPose &robotPose, double px, double py, double vx, double vy)
	Sets the ball data with parameters relative to the robot.
void	setBallDataRelativeToField (const RobotPose &robotPose, double px, double py, double vx, double vy)
	Sets the ball data with parameters relative to the field.
void	setPositionGaussianDataRelativeToRobot (const RobotPose &robotPose, double orientation, double majorAxis, double minorAxis)
	Sets the gaussian distribution of the ball position relative to the robot.
void	setPositionGaussianDataRelativeToField (const RobotPose &robotPose, double orientation, double majorAxis, double minorAxis)
	Sets the gaussian distribution of the ball position relative to the field.
void	setSpeedGaussianDataRelativeToRobot (const RobotPose &robotPose, double orientation, double majorAxis, double minorAxis)
	Sets the gaussian distribution of the ball speed relative to the robot.
void	setSpeedGaussianDataRelativeToField (const RobotPose &robotPose, double orientation, double majorAxis, double minorAxis)
	Sets the gaussian distribution of the ball speed relative to the field.
double	getPositionValidity () const
	Returns a position validity in the range from 0.0 to 1.0.
double	getSpeedValidity () const
	Returns a speed validity in the range from 0.0 to 1.0.
void	drawPosition (Drawings::Color color) const
	Draws the position of the ball to the field.
void	drawSpeed (Drawings::Color color) const
	Draws the speed as arrow to the field.
void	drawPositionGaussian (Drawings::Color color) const
	Draws the position gaussian (if set) as the two axes of the ellipsis.
void	drawSpeedGaussian (Drawings::Color color) const
	Draws the speed gaussian (if set) as the two axes of the ellipsis.
virtual void	serialize (In *in, Out *out)
Public Attributes
bool	useGivenProbabilities
	If a ball locator calculates a ball position and velocity probability by itself it can set this variable to true and set the variable positionProb and velocityProb and the functions getPositionValidity and getSpeedValidity will return those values.
double	positionProb
double	velocityProb
Vector2< double >	positionRobot
	The position of the ball relative to the robot (in mm).
Vector2< double >	speedRobot
	The speed of the ball relative to the robot (in mm/s).
Vector2< double >	positionField
	The position of the ball relative to the field (in mm).
Vector2< double >	speedField
	The speed of the ball relative to the field (in mm/s).
RobotPose	robotPose
	The robot pose.
bool	ballInFrontOfOpponentGoal
	If true, the line from robot to ball crosses the goal line.
bool	ballRollsByLeft
	If true, the ball rolls by left in a short distance.
bool	ballRollsFarByLeft
bool	ballRollsByRight
	If true, the ball rolls by right in a short distance.
bool	ballRollsFarByRight
bool	ballRollsTowardsRobot
	If true, the ball rolls towards the robot.
bool	ballRollsFast
	If true, the ball has a high speed in any direction.
double	projectedDistanceOnYAxis
	this is the projected distance of the ball on the Y axis of the robot (in mm)
long	timeTillBallCrossesYAxis
	time in ms which the ball needs to cross the robots y axis
bool	positionGaussSet
	True if the position gauss was set.
double	positionGaussOrientationRobot
	The angle of the robot x-axis to the ellipse's major axis in radians.
double	positionGaussOrientationField
	The angle of the field x-axis to ellipse's major axis in radians.
double	positionGaussMajAxis
	The length of the ellipsis major axis (that is the standard deviation) (in mm).
double	positionGaussMinAxis
	The length of the ellipsis minor axis (that is the standard deviation) (in mm).
bool	speedGaussSet
	True if the position gauss was set.
double	speedGaussOrientationRobot
	The angle from the robot x-axis to ellipsis major axis in radians.
double	speedGaussOrientationField
	The angle from the field x-axis to ellipsis major axis in radians.
double	speedGaussMajAxis
	The length of the ellipsis major axis (that is the standard deviation) (in mm).
double	speedGaussMinAxis
	The length of the ellipsis minor axis (that is the standard deviation) (in mm).
Protected Member Functions
void	setBallFlags ()
	Sets several ball flags from the actual ball state.
Static Protected Member Functions
Vector2< double >	positionVectorFromRobotToField (const RobotPose &robotPose, const Vector2< double > &pv)
	Converts a position vector relative to the robot to a position vector relative to the field.
Vector2< double >	directionVectorFromRobotToField (const RobotPose &robotPose, const Vector2< double > &dv)
	Converts a direction vector relative to the robot to a direction vector relative to the field.
double	orientationFromRobotToField (const RobotPose &robotPose, double orientation)
	Converts an orientation (in radians) relative to the robot to an orientation relative to the field.
Vector2< double >	positionVectorFromFieldToRobot (const RobotPose &robotPose, const Vector2< double > &pv)
	Converts a position vector relative to the field to a position vector relative to the robot.
Vector2< double >	directionVectorFromFieldToRobot (const RobotPose &robotPose, const Vector2< double > &dv)
	Converts a direction vector relative to the field to a direction vector relative to the robot.
double	orientationFromFieldToRobot (const RobotPose &robotPose, double orientation)
	Converts an orientation (in radians) relative to the field to an orientation relative to the robot.

---

Detailed Description

Base class for a ball state.

Definition at line 26 of file BallModel.h.

---

Constructor & Destructor Documentation

BallState::BallState (   )

Standard constructor initializing the ball state. Definition at line 18 of file BallModel.cpp. References reset(), and useGivenProbabilities.

Here is the call graph for this function:

---

Member Function Documentation

void BallState::reset (   )

Resets all data of the ball state. Reimplemented in SeenBallState, PropagatedBallState, and CommunicatedBallState. Definition at line 24 of file BallModel.cpp. References ballInFrontOfOpponentGoal, ballRollsByLeft, ballRollsByRight, ballRollsFarByLeft, ballRollsFarByRight, ballRollsFast, ballRollsTowardsRobot, positionField, positionGaussSet, positionProb, positionRobot, projectedDistanceOnYAxis, robotPose, speedField, speedGaussSet, speedRobot, timeTillBallCrossesYAxis, and velocityProb. Referenced by BallState(), BallModel::reset(), CommunicatedBallState::reset(), PropagatedBallState::reset(), and SeenBallState::reset().

void BallState::setBallDataRelativeToRobot (  const RobotPose &  robotPose, double  px, double  py, double  vx, double  vy )

Sets the ball data with parameters relative to the robot. The parameters relative to the field are *automatically* generated. Parameters: robotPose  The robot pose. px  x-position of the ball relative to the robot (in mm). py  y-position of the ball relative to the robot (in mm). vx  x-speed of the ball relative to the robot (in mm/s). vy  y-speed of the ball relative to the robot (in mm/s). Definition at line 50 of file BallModel.cpp. References directionVectorFromRobotToField(), positionField, positionRobot, positionVectorFromRobotToField(), setBallFlags(), speedField, speedRobot, Vector2< double >::x, and Vector2< double >::y. Referenced by GTCamBallLocator::execute(), and GT2005BallLocator::setBallSymbols().

Here is the call graph for this function:

void BallState::setBallDataRelativeToField (  const RobotPose &  robotPose, double  px, double  py, double  vx, double  vy )

Sets the ball data with parameters relative to the field. The parameters relative to the robot are *automatically* generated. Parameters: robotPose  The robot pose. px  x-position of the ball relative to the field (in mm). py  y-position of the ball relative to the field (in mm). vx  x-speed of the ball relative to the field (in mm/s). vy  y-speed of the ball relative to the field (in mm/s). Definition at line 69 of file BallModel.cpp. References directionVectorFromFieldToRobot(), positionField, positionRobot, positionVectorFromFieldToRobot(), setBallFlags(), speedField, speedRobot, Vector2< double >::x, and Vector2< double >::y. Referenced by GT2005TeamBallLocator::execute(), GTCamWorldState::getBallModel(), and CLogAnalyzerBase::readRemoteCamWorldState().

Here is the call graph for this function:

void BallState::setPositionGaussianDataRelativeToRobot (  const RobotPose &  robotPose, double  orientation, double  majorAxis, double  minorAxis )

Sets the gaussian distribution of the ball position relative to the robot. The distribution relative to the field is *automatically* generated. Parameters: robotPose  The robot pose. orientation  The angle from the x-axis of the robot to the major axis of the ellipsis (in radians). majorAxis  The length of the major axis (that is the standard deviation in the major direction) (in mm). minorAxis  The length of the minor axis (that is the standard deviation in the minor direction) (in mm). Definition at line 88 of file BallModel.cpp. References orientationFromRobotToField(), positionGaussMajAxis, positionGaussMinAxis, positionGaussOrientationField, positionGaussOrientationRobot, and positionGaussSet.

Here is the call graph for this function:

void BallState::setPositionGaussianDataRelativeToField (  const RobotPose &  robotPose, double  orientation, double  majorAxis, double  minorAxis )

Sets the gaussian distribution of the ball position relative to the field. The distribution relative to the robot is *automatically* generated. Parameters: robotPose  The robot pose. orientation  The angle from the x-axis of the field to the major axis of the ellipsis (in radians). majorAxis  The length of the major axis (that is the standard deviation in the major direction) (in mm). minorAxis  The length of the minor axis (that is the standard deviation in the minor direction) (in mm). Definition at line 102 of file BallModel.cpp. References orientationFromFieldToRobot(), positionGaussMajAxis, positionGaussMinAxis, positionGaussOrientationField, positionGaussOrientationRobot, and positionGaussSet.

Here is the call graph for this function:

void BallState::setSpeedGaussianDataRelativeToRobot (  const RobotPose &  robotPose, double  orientation, double  majorAxis, double  minorAxis )

Sets the gaussian distribution of the ball speed relative to the robot. The distribution relative to the field is *automatically* generated. Parameters: robotPose  The robot pose. orientation  The angle from the x-axis of the robot to the major axis of the ellipsis (in radians). majorAxis  The length of the major axis (that is the standard deviation in the major direction) (in mm). minorAxis  The length of the minor axis (that is the standard deviation in the minor direction) (in mm). Definition at line 116 of file BallModel.cpp. References orientationFromRobotToField(), speedGaussMajAxis, speedGaussMinAxis, speedGaussOrientationField, speedGaussOrientationRobot, and speedGaussSet.

Here is the call graph for this function:

void BallState::setSpeedGaussianDataRelativeToField (  const RobotPose &  robotPose, double  orientation, double  majorAxis, double  minorAxis )

Sets the gaussian distribution of the ball speed relative to the field. The distribution relative to the robot is *automatically* generated. Parameters: robotPose  The robot pose. orientation  The angle from the x-axis of the field to the major axis of the ellipsis (in radians). majorAxis  The length of the major axis (that is the standard deviation in the major direction) (in mm). minorAxis  The length of the minor axis (that is the standard deviation in the minor direction) (in mm). Definition at line 130 of file BallModel.cpp. References orientationFromFieldToRobot(), speedGaussMajAxis, speedGaussMinAxis, speedGaussOrientationField, speedGaussOrientationRobot, and speedGaussSet.

Here is the call graph for this function:

double BallState::getPositionValidity (   )  const

Returns a position validity in the range from 0.0 to 1.0. This validity is calculated from the position gauss if present. Probably there are more sophisticated ways to calc the validity from the gaussian distribution. Returns: Validity calculated from the position gauss in the range from 0.0 to 1.0. Return value is 1.0 if no position gauss present. Definition at line 144 of file BallModel.cpp. References max, positionGaussMajAxis, positionGaussMinAxis, positionGaussSet, positionProb, and useGivenProbabilities. Referenced by BallModel::getKnownBallState(), BallModel::getKnownPosition(), and BallSymbols::getPositionValidity().

double BallState::getSpeedValidity (   )  const

Returns a speed validity in the range from 0.0 to 1.0. This validity is calculated from the speed gauss if present. Probably there are more sophisticated ways to calc the validity from the gaussian distribution. Returns: Validity calculated from the speed gauss in the range from 0.0 to 1.0. Return value is 1.0 if no speed gauss present. Definition at line 154 of file BallModel.cpp. References max, speedGaussMajAxis, speedGaussMinAxis, speedGaussSet, useGivenProbabilities, and velocityProb. Referenced by BallSymbols::getSpeedValidity().

void BallState::drawPosition (  Drawings::Color  color  )  const

Draws the position of the ball to the field. Drawing must be finished by the caller with DEBUG_DRAWING_FINISHED(ballLocatorField). Parameters: color  The color to use for the drawing. Definition at line 164 of file BallModel.cpp. References CIRCLE, positionField, Vector2< double >::x, and Vector2< double >::y.

void BallState::drawSpeed (  Drawings::Color  color  )  const

Draws the speed as arrow to the field. Drawing must be finished by the caller with DEBUG_DRAWING_FINISHED(ballLocatorField). Parameters: color  The color to use for the drawing. Definition at line 170 of file BallModel.cpp. References ARROW, positionField, speedField, Vector2< double >::x, and Vector2< double >::y.

void BallState::drawPositionGaussian (  Drawings::Color  color  )  const

Draws the position gaussian (if set) as the two axes of the ellipsis. Drawing must be finished by the caller with DEBUG_DRAWING_FINISHED(ballLocatorField). Parameters: color  The color to use for the drawing. Definition at line 177 of file BallModel.cpp. References LINE, positionField, positionGaussMajAxis, positionGaussMinAxis, positionGaussOrientationField, positionGaussSet, Vector2< double >::x, and Vector2< double >::y.

void BallState::drawSpeedGaussian (  Drawings::Color  color  )  const

Draws the speed gaussian (if set) as the two axes of the ellipsis. Drawing must be finished by the caller with DEBUG_DRAWING_FINISHED(ballLocatorField). Parameters: color  The color to use for the drawing. Definition at line 201 of file BallModel.cpp.

void BallState::setBallFlags (   )  [protected]

Sets several ball flags from the actual ball state. Definition at line 205 of file BallModel.cpp. References Vector2< double >::abs(), ballInFrontOfOpponentGoal, ballRollsByLeft, ballRollsByRight, ballRollsFarByLeft, ballRollsFarByRight, ballRollsFast, ballRollsTowardsRobot, positionField, positionRobot, projectedDistanceOnYAxis, robotPose, speedRobot, timeTillBallCrossesYAxis, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y. Referenced by setBallDataRelativeToField(), and setBallDataRelativeToRobot().

Here is the call graph for this function:

Vector2< double > BallState::positionVectorFromRobotToField (  const RobotPose &  robotPose, const Vector2< double > &  pv )  [static, protected]

Converts a position vector relative to the robot to a position vector relative to the field. Parameters: robotPose  The robot pose. pv  The position vector relative to the robot. Returns: The position vector relative to the field. Definition at line 281 of file BallModel.cpp. References Pose2D::getCos(), Pose2D::getSin(), Pose2D::translation, Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, and Vector2< V >::y. Referenced by setBallDataRelativeToRobot().

Here is the call graph for this function:

Vector2< double > BallState::directionVectorFromRobotToField (  const RobotPose &  robotPose, const Vector2< double > &  dv )  [static, protected]

Converts a direction vector relative to the robot to a direction vector relative to the field. Parameters: robotPose  The robot pose. dv  The direction vector relative to the robot. Returns: The direction vector relative to the field. Definition at line 292 of file BallModel.cpp. References Pose2D::getCos(), Pose2D::getSin(), Vector2< V >::x, and Vector2< V >::y. Referenced by setBallDataRelativeToRobot().

Here is the call graph for this function:

double BallState::orientationFromRobotToField (  const RobotPose &  robotPose, double  orientation )  [static, protected]

Converts an orientation (in radians) relative to the robot to an orientation relative to the field. Parameters: robotPose  The robot pose. orientation  The orientation in radians relative to the robot. Returns: The orientation in radians relative to the field. Definition at line 303 of file BallModel.cpp. References normalize(), and Pose2D::rotation. Referenced by setPositionGaussianDataRelativeToRobot(), and setSpeedGaussianDataRelativeToRobot().

Here is the call graph for this function:

Vector2< double > BallState::positionVectorFromFieldToRobot (  const RobotPose &  robotPose, const Vector2< double > &  pv )  [static, protected]

Converts a position vector relative to the field to a position vector relative to the robot. Parameters: robotPose  The robot pose. pv  The position vector relative to the field. Returns: The position vector relative to the robot. Definition at line 310 of file BallModel.cpp. References Pose2D::getCos(), Pose2D::getSin(), Pose2D::translation, Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y. Referenced by setBallDataRelativeToField().

Here is the call graph for this function:

Vector2< double > BallState::directionVectorFromFieldToRobot (  const RobotPose &  robotPose, const Vector2< double > &  dv )  [static, protected]

Converts a direction vector relative to the field to a direction vector relative to the robot. Parameters: robotPose  The robot pose. pv  The direction vector relative to the field. Returns: The direction vector relative to the robot. Definition at line 323 of file BallModel.cpp. References Pose2D::getCos(), Pose2D::getSin(), Vector2< V >::x, and Vector2< V >::y. Referenced by setBallDataRelativeToField().

Here is the call graph for this function:

double BallState::orientationFromFieldToRobot (  const RobotPose &  robotPose, double  orientation )  [static, protected]

Converts an orientation (in radians) relative to the field to an orientation relative to the robot. Parameters: robotPose  The robot pose. orientation  The orientation in radians relative to the field. Returns: The orientation in radians relative to the robot. Definition at line 334 of file BallModel.cpp. References normalize(), and Pose2D::rotation. Referenced by setPositionGaussianDataRelativeToField(), and setSpeedGaussianDataRelativeToField().

Here is the call graph for this function:

void BallState::serialize (  In *  in, Out *  out )  [virtual]

Implements Streamable. Reimplemented in SeenBallState, PropagatedBallState, and CommunicatedBallState. Definition at line 341 of file BallModel.cpp. References ballInFrontOfOpponentGoal, ballRollsByLeft, ballRollsByRight, ballRollsFast, ballRollsTowardsRobot, positionField, positionGaussMajAxis, positionGaussMinAxis, positionGaussOrientationField, positionGaussOrientationRobot, positionGaussSet, positionRobot, projectedDistanceOnYAxis, robotPose, speedField, speedGaussMajAxis, speedGaussMinAxis, speedGaussOrientationField, speedGaussOrientationRobot, speedGaussSet, speedRobot, STREAM, STREAM_REGISTER_BEGIN, STREAM_REGISTER_FINISH, and timeTillBallCrossesYAxis.

---

Member Data Documentation

bool BallState::useGivenProbabilities

If a ball locator calculates a ball position and velocity probability by itself it can set this variable to true and set the variable positionProb and velocityProb and the functions getPositionValidity and getSpeedValidity will return those values. Definition at line 283 of file BallModel.h. Referenced by BallState(), getPositionValidity(), getSpeedValidity(), GT2005BallLocator::GT2005BallLocator(), and GT2005TeamBallLocator::GT2005TeamBallLocator().

double BallState::positionProb

Definition at line 284 of file BallModel.h. Referenced by GT2005TeamBallLocator::execute(), BallSymbols::getKnownOrNearProbability(), getPositionValidity(), BallSymbols::getPropagatedPositionValidity(), BallSymbols::getSeenPositionValidity(), reset(), and GT2005BallLocator::setBallSymbols().

double BallState::velocityProb

Definition at line 285 of file BallModel.h. Referenced by GT2005TeamBallLocator::execute(), BallSymbols::getPropagatedVelocityValidity(), BallSymbols::getSeenVelocityValidity(), getSpeedValidity(), reset(), and GT2005BallLocator::setBallSymbols().

Vector2<double> BallState::positionRobot

The position of the ball relative to the robot (in mm). Definition at line 288 of file BallModel.h. Referenced by BallSymbols::calculateInterceptionPoint(), KickLogger::execute(), GTCamBallLocator::execute(), KickLoggerSymbols::generateWalktoTarget(), BallSymbols::getHypotheticalDistance(), BallModel::getKnownBallState(), BallSymbols::getKnownDistance(), BallSymbols::getKnownOrNearDistance(), BallSymbols::getKnownOrNearRelativeX(), BallSymbols::getKnownOrNearRelativeY(), BallModel::getKnownPosition(), BallSymbols::getPropagatedDistance(), BallSymbols::getPropagatedRelativeX(), BallSymbols::getPropagatedRelativeY(), GT2005HeadControlSymbols::getSeenDistance(), BallSymbols::getSeenDistance(), BallSymbols::getSeenDistanceX(), BallSymbols::getSeenDistanceY(), BallSymbols::getSeenRelativeX(), BallSymbols::getSeenRelativeY(), CLogAnalyzerBase::readRemoteCamWorldState(), reset(), serialize(), setBallDataRelativeToField(), setBallDataRelativeToRobot(), setBallFlags(), and GT2005BallLocator::setBallSymbols().

Vector2<double> BallState::speedRobot

The speed of the ball relative to the robot (in mm/s). Definition at line 291 of file BallModel.h. Referenced by BallSymbols::calculateInterceptionPoint(), GTCamBallLocator::execute(), GT2005HeadControlSymbols::getBallSpeedAbs(), BallSymbols::getKnownOrNearRelativeSpeedX(), BallSymbols::getKnownOrNearRelativeSpeedY(), BallSymbols::getPropagatedRelativeSpeedX(), BallSymbols::getPropagatedRelativeSpeedY(), GT2005HeadControlSymbols::getRelativeBallSpeedX(), GT2005HeadControlSymbols::getRelativeBallSpeedY(), BallSymbols::getSeenRelativeSpeedX(), BallSymbols::getSeenRelativeSpeedY(), CLogAnalyzerBase::readRemoteCamWorldState(), reset(), serialize(), setBallDataRelativeToField(), setBallDataRelativeToRobot(), and setBallFlags().

Vector2<double> BallState::positionField

The position of the ball relative to the field (in mm). Definition at line 294 of file BallModel.h. Referenced by GT2005ObstaclesLocator::addPSDPercept(), GT2005StrategySymbols::computeRole(), KickLoggerSymbols::doExecute(), drawPosition(), drawPositionGaussian(), drawSpeed(), GT2005StrategySymbols::estimateTimeToReachBall(), KickLogger::execute(), GT2005BasicBehaviorGoToBallPropagated::execute(), GTCamBallLocator::execute(), BallSymbols::getAngleToOpponentGoal(), KickLogger::getBallX(), GTCamSymbols::getBallX(), KickLogger::getBallY(), GTCamSymbols::getBallY(), GT2005HeadControlSymbols::getCommunicatedBallDistance(), BallSymbols::getDistanceSeenBallToOwnPenaltyArea(), GT2005StrategySymbols::getGoalieMaxPositionSpeed(), BallSymbols::getHypotheticalAngle(), BallSymbols::getKnownOrNearAngleToOwnGoal(), BallSymbols::getKnownOrNearDistanceToOwnPenaltyArea(), BallModel::getKnownPosition(), BallSymbols::getPropagatedAngle(), BallSymbols::getPropagatedX(), BallSymbols::getPropagatedY(), BallSymbols::getSeenAngle(), BallSymbols::getSeenDistanceToBorder(), OpenChallengeSymbols::guideDogMoveForward(), KickSelectionSymbols::intentionalKickPossible(), KickLoggerSymbols::isNear(), KickLoggerSymbols::kickLoggerSetExecuteState(), GT2005BehaviorControl::postExecute(), CLogAnalyzerBase::readRemoteCamWorldState(), BallSymbols::registerSymbols(), reset(), KickSelectionSymbols::retrieveKick(), serialize(), setBallDataRelativeToField(), setBallDataRelativeToRobot(), setBallFlags(), GTStandardConverter::setData(), KickLoggerSymbols::update(), ObstaclesSymbols::update(), and BallSymbols::update().

Vector2<double> BallState::speedField

The speed of the ball relative to the field (in mm/s). Definition at line 297 of file BallModel.h. Referenced by KickLoggerSymbols::ballHasStopped(), drawSpeed(), GTCamSymbols::getBallSpeedX(), GTCamSymbols::getBallSpeedY(), BallSymbols::getKnownOrNearSpeedAbs(), BallSymbols::getKnownOrNearSpeedX(), BallSymbols::getKnownOrNearSpeedY(), BallSymbols::getPropagatedSpeedX(), BallSymbols::getPropagatedSpeedY(), BallSymbols::getSeenSpeed(), BallSymbols::getSeenSpeedX(), BallSymbols::getSeenSpeedY(), CLogAnalyzerBase::readRemoteCamWorldState(), reset(), serialize(), setBallDataRelativeToField(), and setBallDataRelativeToRobot().

RobotPose BallState::robotPose

The robot pose. Definition at line 300 of file BallModel.h. Referenced by reset(), serialize(), and setBallFlags().

bool BallState::ballInFrontOfOpponentGoal

If true, the line from robot to ball crosses the goal line. Definition at line 303 of file BallModel.h. Referenced by GT2005StrategySymbols::computeRole(), GTCamBallLocator::execute(), BallSymbols::getBallSeenInFrontOfOpponentGoal(), reset(), serialize(), setBallFlags(), and GT2005BallLocator::setBallSymbols().

bool BallState::ballRollsByLeft

If true, the ball rolls by left in a short distance. Definition at line 306 of file BallModel.h. Referenced by GT2005BehaviorControl::postExecute(), BallSymbols::registerSymbols(), reset(), serialize(), and setBallFlags().

bool BallState::ballRollsFarByLeft

Definition at line 307 of file BallModel.h. Referenced by BallSymbols::registerSymbols(), reset(), and setBallFlags().

bool BallState::ballRollsByRight

If true, the ball rolls by right in a short distance. Definition at line 310 of file BallModel.h. Referenced by GT2005BehaviorControl::postExecute(), BallSymbols::registerSymbols(), reset(), serialize(), and setBallFlags().

bool BallState::ballRollsFarByRight

Definition at line 311 of file BallModel.h. Referenced by BallSymbols::registerSymbols(), reset(), and setBallFlags().

bool BallState::ballRollsTowardsRobot

If true, the ball rolls towards the robot. Definition at line 314 of file BallModel.h. Referenced by GT2005BehaviorControl::postExecute(), BallSymbols::registerSymbols(), reset(), serialize(), and setBallFlags().

bool BallState::ballRollsFast

If true, the ball has a high speed in any direction. Definition at line 317 of file BallModel.h. Referenced by GT2005BehaviorControl::postExecute(), BallSymbols::registerSymbols(), reset(), serialize(), and setBallFlags().

double BallState::projectedDistanceOnYAxis

this is the projected distance of the ball on the Y axis of the robot (in mm) Definition at line 321 of file BallModel.h. Referenced by BallSymbols::getProjectedDistanceOnYAxis(), reset(), serialize(), and setBallFlags().

long BallState::timeTillBallCrossesYAxis

time in ms which the ball needs to cross the robots y axis Definition at line 324 of file BallModel.h. Referenced by BallSymbols::getTimeUntilBallCrossesYAxis(), reset(), serialize(), and setBallFlags().

bool BallState::positionGaussSet

True if the position gauss was set. Definition at line 327 of file BallModel.h. Referenced by drawPositionGaussian(), getPositionValidity(), reset(), serialize(), setPositionGaussianDataRelativeToField(), and setPositionGaussianDataRelativeToRobot().

double BallState::positionGaussOrientationRobot

The angle of the robot x-axis to the ellipse's major axis in radians. Definition at line 330 of file BallModel.h. Referenced by serialize(), setPositionGaussianDataRelativeToField(), and setPositionGaussianDataRelativeToRobot().

double BallState::positionGaussOrientationField

The angle of the field x-axis to ellipse's major axis in radians. Definition at line 333 of file BallModel.h. Referenced by drawPositionGaussian(), serialize(), setPositionGaussianDataRelativeToField(), and setPositionGaussianDataRelativeToRobot().

double BallState::positionGaussMajAxis

The length of the ellipsis major axis (that is the standard deviation) (in mm). Definition at line 337 of file BallModel.h. Referenced by drawPositionGaussian(), getPositionValidity(), serialize(), setPositionGaussianDataRelativeToField(), and setPositionGaussianDataRelativeToRobot().

double BallState::positionGaussMinAxis

The length of the ellipsis minor axis (that is the standard deviation) (in mm). Definition at line 341 of file BallModel.h. Referenced by drawPositionGaussian(), getPositionValidity(), serialize(), setPositionGaussianDataRelativeToField(), and setPositionGaussianDataRelativeToRobot().

bool BallState::speedGaussSet

True if the position gauss was set. Definition at line 344 of file BallModel.h. Referenced by getSpeedValidity(), reset(), serialize(), setSpeedGaussianDataRelativeToField(), and setSpeedGaussianDataRelativeToRobot().

double BallState::speedGaussOrientationRobot

The angle from the robot x-axis to ellipsis major axis in radians. Definition at line 347 of file BallModel.h. Referenced by serialize(), setSpeedGaussianDataRelativeToField(), and setSpeedGaussianDataRelativeToRobot().

double BallState::speedGaussOrientationField

The angle from the field x-axis to ellipsis major axis in radians. Definition at line 350 of file BallModel.h. Referenced by serialize(), setSpeedGaussianDataRelativeToField(), and setSpeedGaussianDataRelativeToRobot().

double BallState::speedGaussMajAxis

The length of the ellipsis major axis (that is the standard deviation) (in mm). Definition at line 354 of file BallModel.h. Referenced by getSpeedValidity(), serialize(), setSpeedGaussianDataRelativeToField(), and setSpeedGaussianDataRelativeToRobot().

double BallState::speedGaussMinAxis

The length of the ellipsis minor axis (that is the standard deviation) (in mm). Definition at line 358 of file BallModel.h. Referenced by getSpeedValidity(), serialize(), setSpeedGaussianDataRelativeToField(), and setSpeedGaussianDataRelativeToRobot().

---

The documentation for this class was generated from the following files:

• Representations/Cognition/BallModel.h
• Representations/Cognition/BallModel.cpp

---