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handler.cpp
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/***************************************************************************
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* handler.cpp - World Info Handler
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*
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* Created: Sun Jan 21 15:57:22 2007
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* Copyright 2006-2007 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version. A runtime exception applies to
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* this software (see LICENSE.GPL_WRE file mentioned below for details).
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
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*/
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#include <netcomm/worldinfo/handler.h>
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namespace
fawkes
{
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/** @class WorldInfoHandler handler.h <netcomm/worldinfo/handler.h>
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* World info handler.
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* This interface defines methods called by WorldInfoTransceiver for incoming
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* information.
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*
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* @ingroup NetComm
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* @author Tim Niemueller
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*
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*
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* @fn void WorldInfoHandler::pose_rcvd(const char *from_host, float x, float y, float theta, float *covariance)
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* Pose information received.
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* @param from_host transmitting host of this information, if available symbolic name
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* @param x x position
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* @param y y position
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* @param theta rotation of the robot
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* @param covariance covariance matrix, line-wise float array
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*
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* @fn void WorldInfoHandler::velocity_rcvd(const char *from_host, float vel_x, float vel_y, float vel_theta, float *covariance)
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* Robot velocity information received.
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* @param from_host transmitting host of this information, if available symbolic name
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* @param vel_x velocity in x direction
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* @param vel_y velocity in y direction
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* @param vel_theta rotational velocity, positive velocity means clockwise
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* rotation, negative velocity means counter-clockwise.
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* @param covariance covariance matrix with 9 entries, ordered as three concatenated
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* rows (first row, three floats, second row, three floats, third row, three
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* floats).
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* @see WorldInfoTransceiver::set_velocity()
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*
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* @fn void WorldInfoHandler::ball_pos_rcvd(const char *from_host, bool visible, int visibility_history, float dist, float bearing, float slope, float *covariance)
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* Ball position information received.
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* @param from_host transmitting host of this information, if available symbolic name
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* @param visible true if ball is visible, false otherwise. If the ball is not visible
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* the given position is the last known position and may be invalid. Use visibility history
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* to decide whether you expect useful data.
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* @param visibility_history Ball visibility history.
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* @param dist distance to ball in meters
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* @param bearing bearing angle to ball
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* @param slope slope angle to ball
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* @param covariance covariance matrix with 9 entries, ordered as three concatenated
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* rows (first row, three floats, second row, three floats, third row, three
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* floats).
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* @see WorldInfoTransceiver::set_ball_pos()
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* @see WorldInfoTransceiver::set_ball_visible()
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*
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* @fn void WorldInfoHandler::global_ball_pos_rcvd(const char *from_host, bool visible, int visibility_history, float x, float y, float z, float *covariance)
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* Global ball position information received.
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* @param from_host transmitting host of this information, if available symbolic name
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* @param visible true if ball is visible, false otherwise. If the ball is not visible
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* the given position is the last known position and may be invalid. Use visibility history
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* to decide whether you expect useful data.
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* @param visibility_history Ball visibility history.
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* @param x global x-coordinates of the ball
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* @param y global y-coordinates of the ball
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* @param z global z-coordinates of the ball
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* @param covariance covariance matrix with 9 entries, ordered as three concatenated
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* rows (first row, three floats, second row, three floats, third row, three
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* floats).
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* @see WorldInfoTransceiver::set_ball_pos()
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* @see WorldInfoTransceiver::set_ball_visible()
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*
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* @fn void WorldInfoHandler::ball_velocity_rcvd(const char *from_host, float vel_x, float vel_y, float vel_z, float *covariance)
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* Ball velocity information received.
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* @param from_host transmitting host of this information, if available symbolic name
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* @param vel_x velocity in x direction
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* @param vel_y velocity in y direction
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* @param vel_z velocity in z direction
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* @param covariance covariance matrix with 9 entries, ordered as three concatenated
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* rows (first row, three floats, second row, three floats, third row, three
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* floats).
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* @see WorldInfoTransceiver::set_ball_velocity()
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*
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* @fn void WorldInfoHandler::global_ball_velocity_rcvd(const char *from_host, float vel_x, float vel_y, float vel_z, float *covariance)
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* Ball velocity information received.
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* @param from_host transmitting host of this information, if available symbolic name
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* @param vel_x velocity in x direction
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* @param vel_y velocity in y direction
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* @param vel_z velocity in z direction
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* @param covariance covariance matrix with 9 entries, ordered as three concatenated
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* rows (first row, three floats, second row, three floats, third row, three
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* floats).
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* @see WorldInfoTransceiver::set_ball_velocity()
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*
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* @fn void WorldInfoHandler::opponent_pose_rcvd(const char *from_host, unsigned int uid, float distance, float bearing, , float *covariance)
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* Opponent information received.
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* @param from_host transmitting host of this information, if available symbolic name
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* @param uid unique ID of the opponent
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* @param distance to opponent
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* @param bearing bearing to opponent (angle is zero if opponent is in front of robot,
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* positive if right of robot, negative if left of robot).
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* @param covariance covariance matrix with 4 entries, ordered as two concatenated
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* rows (first row, two floats, second row, two floats)
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* @see WorldInfoTransceiver::add_opponent()
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*
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* @fn void WorldInfoHandler::opponent_disapp_rcvd(const char *from_host, unsigned int uid)
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* Opponent disappeared.
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* @param from_host transmitting host of this information, if available symbolic name
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* @param uid unique ID of the opponent
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*
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* @fn void WorldInfoHandler::gamestate_rcvd(const char *from_host, unsigned int game_state, worldinfo_gamestate_team_t state_team, unsigned int score_cyan, unsigned int score_magenta, worldinfo_gamestate_team_t our_team, worldinfo_gamestate_goalcolor_t our_goal_color, worldinfo_gamestate_half_t half)
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* Gamestate information received.
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* @param from_host transmitting host of this information, if available symbolic name
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* @param game_state current gamestate
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* @param state_team team related to the game state
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* @param score_cyan current score of team cyan
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* @param score_magenta current score of team magenta
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* @param our_team our team color
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* @param our_goal_color our goal color
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* @param half current half of the game, first or second
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* @see WorldInfoTransceiver::set_gamestate()
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*
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* @fn void WorldInfoHandler::penalty_rcvd(const char *from_host, unsigned int player, unsigned int penalty, unsigned int seconds_remaining)
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* Penalty info received.
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* @param from_host transmitting host of this information, if available symbolic name
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* @param player player number for penalty info
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* @param penalty penalty code
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* @param seconds_remaining time in seconds when penalty is expected to be lifted
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*/
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/** Virtual empty destructor. */
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WorldInfoHandler::~WorldInfoHandler
()
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{
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}
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}
// end namespace fawkes
fawkes
Fawkes library namespace.
fawkes::WorldInfoHandler::~WorldInfoHandler
virtual ~WorldInfoHandler()
Virtual empty destructor.
Definition:
handler.cpp:148
src
libs
netcomm
worldinfo
handler.cpp
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