GTCamWorldState Class Reference

#include <GTCamWorldState.h>

List of all members.

Public Member Functions
	GTCamWorldState (bool flip=false)
	Contructor.
virtual	~GTCamWorldState ()
Vector2< double >	getPlayerPos (int player, int color=Player::red) const
	Get player position from worldstate.
Vector2< double >	getPlayerSpeed (int player, int color=Player::red) const
	Get player speed from worldstate.
double	getPlayerOrientation (int player, int color=Player::red) const
	Get player orientation from worldstate.
double	getTimestamp () const
	Get timestamp from worldstate.
BallModel	getBallModel () const
	get ballModel from worldstate
void	setPlayerPos (Vector2< double > pos, int player, int color=Player::red)
	Set player position in worldstate.
void	setPlayerSpeed (Vector2< double > speed, int player, int color=Player::red)
	set player speed in worldstate
void	setPlayerOrientation (double angle, int player, int color=Player::red)
	set player orientation in worldstate
void	setTimestamp (double stamp)
	set timestamp in worldstate
void	setFlip (bool x)
PlayerPoseCollection	getPlayerPoseCollection (int player, int color=Player::red)
	Does not work for now.
RobotPose	getRobotPose (int player, int color=Player::red) const
	Return robot pose of player.
RobotPose	getRobotPose () const
double	getSyncTimestamp () const
	Return the sync timestamp of the worldstate.
void	setSyncTimestamp (double stamp)
	Set Sync Timestamp.
unsigned long	getFrameNumber () const
void	setBallPos (double X, double Y)
	Set the ball position.
void	setBallSpeedX (double speedX)
	Set the X ball speed.
void	setBallSpeedY (double speedY)
	Set the Y Ball speed.
void	setBallSpeed (double speedX, double speedY)
	Set the Ball speed.
bool	playerWasSeen (int player, int color=Player::red) const
	Was the player seen?
Static Public Attributes
const int	SIZEOFWORLDSTATE = 46
Private Member Functions
bool	is_NAN (double test) const
	Is test NaN?
Private Attributes
double	camWorldstate [46]
unsigned long	frameNumber
int	flip
Friends
class	RemoteCam
class	RobotControlGTCamSocket
class	GTCamHandler
class	MSH2005KickLoggerSymbols

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Constructor & Destructor Documentation

GTCamWorldState::GTCamWorldState (  bool  myFlip = false  )

Contructor. Definition at line 25 of file GTCamWorldState.cpp. References camWorldstate, setFlip(), setTimestamp(), and SIZEOFWORLDSTATE.

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GTCamWorldState::~GTCamWorldState (   )  [virtual]

Definition at line 42 of file GTCamWorldState.cpp.

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Member Function Documentation

Vector2< double > GTCamWorldState::getPlayerPos (  int  player, int  color = Player::red )  const

Get player position from worldstate. Definition at line 49 of file GTCamWorldState.cpp. References camWorldstate, flip, playerWasSeen(), Vector2< V >::x, and Vector2< V >::y. Referenced by GTCamPlayersLocator::execute(), GTCamObstaclesLocator::execute(), GTCamSymbols::getOwnPosX(), GTCamSymbols::getOwnPosY(), and getRobotPose().

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Vector2< double > GTCamWorldState::getPlayerSpeed (  int  player, int  color = Player::red )  const

Get player speed from worldstate. Definition at line 70 of file GTCamWorldState.cpp. References camWorldstate, flip, playerWasSeen(), Vector2< V >::x, and Vector2< V >::y. Referenced by GTCamPlayersLocator::execute(), GTCamSymbols::getOwnSpeedX(), and GTCamSymbols::getOwnSpeedY().

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double GTCamWorldState::getPlayerOrientation (  int  player, int  color = Player::red )  const

Get player orientation from worldstate. Definition at line 91 of file GTCamWorldState.cpp. References camWorldstate, flip, pi, and playerWasSeen(). Referenced by GTCamPlayersLocator::execute(), GTCamObstaclesLocator::execute(), GTCamSymbols::getOwnRotation(), and getRobotPose().

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double GTCamWorldState::getTimestamp (   )  const

Get timestamp from worldstate. Definition at line 117 of file GTCamWorldState.cpp. References camWorldstate, and is_NAN(). Referenced by GT2005WalkCalibrationMainBehavior::execute(), and GTCamHandler::onReceive().

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BallModel GTCamWorldState::getBallModel (   )  const

get ballModel from worldstate Definition at line 193 of file GTCamWorldState.cpp. References BallModel::ballWasSeen, camWorldstate, flip, is_NAN(), BallModel::seen, and BallState::setBallDataRelativeToField(). Referenced by KickLogger::execute(), GTCamBallLocator::execute(), GTCamSymbols::getBallSpeedX(), GTCamSymbols::getBallSpeedY(), GTCamSymbols::getBallX(), and GTCamSymbols::getBallY().

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void GTCamWorldState::setPlayerPos (  Vector2< double >  pos, int  player, int  color = Player::red )

Set player position in worldstate. Definition at line 131 of file GTCamWorldState.cpp. References camWorldstate, Vector2< V >::x, and Vector2< V >::y.

void GTCamWorldState::setPlayerSpeed (  Vector2< double >  speed, int  player, int  color = Player::red )

set player speed in worldstate Definition at line 142 of file GTCamWorldState.cpp. References camWorldstate, Vector2< V >::x, and Vector2< V >::y.

void GTCamWorldState::setPlayerOrientation (  double  angle, int  player = 0, int  color = Player::red )

set player orientation in worldstate Definition at line 153 of file GTCamWorldState.cpp. References camWorldstate.

void GTCamWorldState::setTimestamp (  double  stamp  )

set timestamp in worldstate Definition at line 163 of file GTCamWorldState.cpp. References camWorldstate. Referenced by GTCamWorldState(), and GTCamHandler::onReceive().

void GTCamWorldState::setFlip (  bool  x  )

Definition at line 33 of file GTCamWorldState.cpp. References flip. Referenced by Cognition::Cognition(), and GTCamWorldState().

PlayerPoseCollection GTCamWorldState::getPlayerPoseCollection (  int  player, int  color = Player::red )

Does not work for now. Definition at line 253 of file GTCamWorldState.cpp.

RobotPose GTCamWorldState::getRobotPose (  int  player, int  color = Player::red )  const

Return robot pose of player. Definition at line 228 of file GTCamWorldState.cpp. References getPlayerOrientation(), getPlayerPos(), playerWasSeen(), Pose2D::rotation, RobotPose::setValidity(), Pose2D::translation, Vector2< double >::x, and Vector2< double >::y. Referenced by GTCamSelfLocator::execute(), ComboLocator::execute(), SLBenchmark::execute(), GT2005WalkCalibrationMainBehavior::execute(), SLBenchmark::GoToNextTarget(), and SLBenchmark::RotateToNextTarget().

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RobotPose GTCamWorldState::getRobotPose (   )  const

Definition at line 247 of file GTCamWorldState.cpp. References getPlayer().

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double GTCamWorldState::getSyncTimestamp (   )  const

Return the sync timestamp of the worldstate. Definition at line 179 of file GTCamWorldState.cpp. References camWorldstate, and is_NAN().

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void GTCamWorldState::setSyncTimestamp (  double  stamp  )

Set Sync Timestamp. Definition at line 171 of file GTCamWorldState.cpp. References camWorldstate.

unsigned long GTCamWorldState::getFrameNumber (   )  const

Definition at line 292 of file GTCamWorldState.cpp.

void GTCamWorldState::setBallPos (  double  X, double  Y )

Set the ball position. Definition at line 263 of file GTCamWorldState.cpp. References camWorldstate.

void GTCamWorldState::setBallSpeedX (  double  speedX  )

Set the X ball speed. Definition at line 272 of file GTCamWorldState.cpp. References camWorldstate. Referenced by setBallSpeed().

void GTCamWorldState::setBallSpeedY (  double  speedY  )

Set the Y Ball speed. Definition at line 279 of file GTCamWorldState.cpp. References camWorldstate. Referenced by setBallSpeed().

void GTCamWorldState::setBallSpeed (  double  speedX, double  speedY )

Set the Ball speed. Definition at line 286 of file GTCamWorldState.cpp. References setBallSpeedX(), and setBallSpeedY().

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bool GTCamWorldState::playerWasSeen (  int  player, int  color = Player::red )  const

Was the player seen? Definition at line 300 of file GTCamWorldState.cpp. References camWorldstate, and is_NAN(). Referenced by GTCamSelfLocator::execute(), getPlayerOrientation(), getPlayerPos(), getPlayerSpeed(), and getRobotPose().

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bool GTCamWorldState::is_NAN (  double  test  )  const [private]

Is test NaN? Definition at line 327 of file GTCamWorldState.cpp. Referenced by getBallModel(), getSyncTimestamp(), getTimestamp(), and playerWasSeen().

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Friends And Related Function Documentation

friend class RemoteCam [friend]

Definition at line 20 of file GTCamWorldState.h.

friend class RobotControlGTCamSocket [friend]

Definition at line 21 of file GTCamWorldState.h.

friend class GTCamHandler [friend]

Definition at line 22 of file GTCamWorldState.h.

friend class MSH2005KickLoggerSymbols [friend]

Definition at line 23 of file GTCamWorldState.h.

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Member Data Documentation

const int GTCamWorldState::SIZEOFWORLDSTATE = 46 [static]

Definition at line 345 of file GTCamWorldState.cpp. Referenced by GTCamWorldState().

double GTCamWorldState::camWorldstate[46] [private]

Definition at line 103 of file GTCamWorldState.h. Referenced by getBallModel(), getPlayerOrientation(), getPlayerPos(), getPlayerSpeed(), getSyncTimestamp(), getTimestamp(), GTCamWorldState(), GTCamHandler::onReceive(), playerWasSeen(), setBallPos(), setBallSpeedX(), setBallSpeedY(), setPlayerOrientation(), setPlayerPos(), setPlayerSpeed(), setSyncTimestamp(), and setTimestamp().

unsigned long GTCamWorldState::frameNumber [private]

Definition at line 105 of file GTCamWorldState.h. Referenced by GTCamHandler::onReceive().

int GTCamWorldState::flip [private]

Definition at line 107 of file GTCamWorldState.h. Referenced by getBallModel(), getPlayerOrientation(), getPlayerPos(), getPlayerSpeed(), and setFlip().

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

• Representations/Cognition/GTCamWorldState.h
• Representations/Cognition/GTCamWorldState.cpp

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