Fawkes API  Fawkes Development Version
fawkes::ObjectPositionInterface Class Reference

ObjectPositionInterface Fawkes BlackBoard Interface. More...

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Inheritance diagram for fawkes::ObjectPositionInterface:

Public Member Functions

virtual bool message_valid (const Message *message) const
 Check if message is valid and can be enqueued. More...
 
uint32_t object_type () const
 Get object_type value. More...
 
void set_object_type (const uint32_t new_object_type)
 Set object_type value. More...
 
size_t maxlenof_object_type () const
 Get maximum length of object_type value. More...
 
uint32_t flags () const
 Get flags value. More...
 
void set_flags (const uint32_t new_flags)
 Set flags value. More...
 
size_t maxlenof_flags () const
 Get maximum length of flags value. More...
 
bool is_visible () const
 Get visible value. More...
 
void set_visible (const bool new_visible)
 Set visible value. More...
 
size_t maxlenof_visible () const
 Get maximum length of visible value. More...
 
bool is_valid () const
 Get valid value. More...
 
void set_valid (const bool new_valid)
 Set valid value. More...
 
size_t maxlenof_valid () const
 Get maximum length of valid value. More...
 
int32_t visibility_history () const
 Get visibility_history value. More...
 
void set_visibility_history (const int32_t new_visibility_history)
 Set visibility_history value. More...
 
size_t maxlenof_visibility_history () const
 Get maximum length of visibility_history value. More...
 
float roll () const
 Get roll value. More...
 
void set_roll (const float new_roll)
 Set roll value. More...
 
size_t maxlenof_roll () const
 Get maximum length of roll value. More...
 
float pitch () const
 Get pitch value. More...
 
void set_pitch (const float new_pitch)
 Set pitch value. More...
 
size_t maxlenof_pitch () const
 Get maximum length of pitch value. More...
 
float yaw () const
 Get yaw value. More...
 
void set_yaw (const float new_yaw)
 Set yaw value. More...
 
size_t maxlenof_yaw () const
 Get maximum length of yaw value. More...
 
float distance () const
 Get distance value. More...
 
void set_distance (const float new_distance)
 Set distance value. More...
 
size_t maxlenof_distance () const
 Get maximum length of distance value. More...
 
float bearing () const
 Get bearing value. More...
 
void set_bearing (const float new_bearing)
 Set bearing value. More...
 
size_t maxlenof_bearing () const
 Get maximum length of bearing value. More...
 
float slope () const
 Get slope value. More...
 
void set_slope (const float new_slope)
 Set slope value. More...
 
size_t maxlenof_slope () const
 Get maximum length of slope value. More...
 
float * dbs_covariance () const
 Get dbs_covariance value. More...
 
float dbs_covariance (unsigned int index) const
 Get dbs_covariance value at given index. More...
 
void set_dbs_covariance (unsigned int index, const float new_dbs_covariance)
 Set dbs_covariance value at given index. More...
 
void set_dbs_covariance (const float *new_dbs_covariance)
 Set dbs_covariance value. More...
 
size_t maxlenof_dbs_covariance () const
 Get maximum length of dbs_covariance value. More...
 
float world_x () const
 Get world_x value. More...
 
void set_world_x (const float new_world_x)
 Set world_x value. More...
 
size_t maxlenof_world_x () const
 Get maximum length of world_x value. More...
 
float world_y () const
 Get world_y value. More...
 
void set_world_y (const float new_world_y)
 Set world_y value. More...
 
size_t maxlenof_world_y () const
 Get maximum length of world_y value. More...
 
float world_z () const
 Get world_z value. More...
 
void set_world_z (const float new_world_z)
 Set world_z value. More...
 
size_t maxlenof_world_z () const
 Get maximum length of world_z value. More...
 
float * world_xyz_covariance () const
 Get world_xyz_covariance value. More...
 
float world_xyz_covariance (unsigned int index) const
 Get world_xyz_covariance value at given index. More...
 
void set_world_xyz_covariance (unsigned int index, const float new_world_xyz_covariance)
 Set world_xyz_covariance value at given index. More...
 
void set_world_xyz_covariance (const float *new_world_xyz_covariance)
 Set world_xyz_covariance value. More...
 
size_t maxlenof_world_xyz_covariance () const
 Get maximum length of world_xyz_covariance value. More...
 
float relative_x () const
 Get relative_x value. More...
 
void set_relative_x (const float new_relative_x)
 Set relative_x value. More...
 
size_t maxlenof_relative_x () const
 Get maximum length of relative_x value. More...
 
float relative_y () const
 Get relative_y value. More...
 
void set_relative_y (const float new_relative_y)
 Set relative_y value. More...
 
size_t maxlenof_relative_y () const
 Get maximum length of relative_y value. More...
 
float relative_z () const
 Get relative_z value. More...
 
void set_relative_z (const float new_relative_z)
 Set relative_z value. More...
 
size_t maxlenof_relative_z () const
 Get maximum length of relative_z value. More...
 
float * relative_xyz_covariance () const
 Get relative_xyz_covariance value. More...
 
float relative_xyz_covariance (unsigned int index) const
 Get relative_xyz_covariance value at given index. More...
 
void set_relative_xyz_covariance (unsigned int index, const float new_relative_xyz_covariance)
 Set relative_xyz_covariance value at given index. More...
 
void set_relative_xyz_covariance (const float *new_relative_xyz_covariance)
 Set relative_xyz_covariance value. More...
 
size_t maxlenof_relative_xyz_covariance () const
 Get maximum length of relative_xyz_covariance value. More...
 
float extent_x () const
 Get extent_x value. More...
 
void set_extent_x (const float new_extent_x)
 Set extent_x value. More...
 
size_t maxlenof_extent_x () const
 Get maximum length of extent_x value. More...
 
float extent_y () const
 Get extent_y value. More...
 
void set_extent_y (const float new_extent_y)
 Set extent_y value. More...
 
size_t maxlenof_extent_y () const
 Get maximum length of extent_y value. More...
 
float extent_z () const
 Get extent_z value. More...
 
void set_extent_z (const float new_extent_z)
 Set extent_z value. More...
 
size_t maxlenof_extent_z () const
 Get maximum length of extent_z value. More...
 
float world_x_velocity () const
 Get world_x_velocity value. More...
 
void set_world_x_velocity (const float new_world_x_velocity)
 Set world_x_velocity value. More...
 
size_t maxlenof_world_x_velocity () const
 Get maximum length of world_x_velocity value. More...
 
float world_y_velocity () const
 Get world_y_velocity value. More...
 
void set_world_y_velocity (const float new_world_y_velocity)
 Set world_y_velocity value. More...
 
size_t maxlenof_world_y_velocity () const
 Get maximum length of world_y_velocity value. More...
 
float world_z_velocity () const
 Get world_z_velocity value. More...
 
void set_world_z_velocity (const float new_world_z_velocity)
 Set world_z_velocity value. More...
 
size_t maxlenof_world_z_velocity () const
 Get maximum length of world_z_velocity value. More...
 
float * world_xyz_velocity_covariance () const
 Get world_xyz_velocity_covariance value. More...
 
float world_xyz_velocity_covariance (unsigned int index) const
 Get world_xyz_velocity_covariance value at given index. More...
 
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. More...
 
void set_world_xyz_velocity_covariance (const float *new_world_xyz_velocity_covariance)
 Set world_xyz_velocity_covariance value. More...
 
size_t maxlenof_world_xyz_velocity_covariance () const
 Get maximum length of world_xyz_velocity_covariance value. More...
 
float relative_x_velocity () const
 Get relative_x_velocity value. More...
 
void set_relative_x_velocity (const float new_relative_x_velocity)
 Set relative_x_velocity value. More...
 
size_t maxlenof_relative_x_velocity () const
 Get maximum length of relative_x_velocity value. More...
 
float relative_y_velocity () const
 Get relative_y_velocity value. More...
 
void set_relative_y_velocity (const float new_relative_y_velocity)
 Set relative_y_velocity value. More...
 
size_t maxlenof_relative_y_velocity () const
 Get maximum length of relative_y_velocity value. More...
 
float relative_z_velocity () const
 Get relative_z_velocity value. More...
 
void set_relative_z_velocity (const float new_relative_z_velocity)
 Set relative_z_velocity value. More...
 
size_t maxlenof_relative_z_velocity () const
 Get maximum length of relative_z_velocity value. More...
 
float * relative_xyz_velocity_covariance () const
 Get relative_xyz_velocity_covariance value. More...
 
float relative_xyz_velocity_covariance (unsigned int index) const
 Get relative_xyz_velocity_covariance value at given index. More...
 
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. More...
 
void set_relative_xyz_velocity_covariance (const float *new_relative_xyz_velocity_covariance)
 Set relative_xyz_velocity_covariance value. More...
 
size_t maxlenof_relative_xyz_velocity_covariance () const
 Get maximum length of relative_xyz_velocity_covariance value. More...
 
virtual Messagecreate_message (const char *type) const
 Create message based on type name. More...
 
virtual void copy_values (const Interface *other)
 Copy values from other interface. More...
 
virtual const char * enum_tostring (const char *enumtype, int val) const
 Convert arbitrary enum value to string. More...
 
- Public Member Functions inherited from fawkes::Interface
virtual ~Interface ()
 Destructor. More...
 
bool oftype (const char *interface_type) const
 Check if interface is of given type. More...
 
const void * datachunk () const
 Get data chunk. More...
 
unsigned int datasize () const
 Get data size. More...
 
const char * type () const
 Get type of interface. More...
 
const char * id () const
 Get identifier of interface. More...
 
const char * uid () const
 Get unique identifier of interface. More...
 
unsigned short serial () const
 Get instance serial of interface. More...
 
unsigned int mem_serial () const
 Get memory serial of interface. More...
 
bool operator== (Interface &comp) const
 Check equality of two interfaces. More...
 
const unsigned char * hash () const
 Get interface hash. More...
 
size_t hash_size () const
 Get size of interface hash. More...
 
const char * hash_printable () const
 Get printable interface hash. More...
 
bool is_writer () const
 Check if this is a writing instance. More...
 
void set_validity (bool valid)
 Mark this interface invalid. More...
 
bool is_valid () const
 Check validity of interface. More...
 
const char * owner () const
 Get owner of interface. More...
 
void set_from_chunk (void *chunk)
 Set from a raw data chunk. More...
 
void resize_buffers (unsigned int num_buffers)
 Resize buffer array. More...
 
unsigned int num_buffers () const
 Get number of buffers. More...
 
void copy_shared_to_buffer (unsigned int buffer)
 Copy data from private memory to buffer. More...
 
void copy_private_to_buffer (unsigned int buffer)
 Copy data from private memory to buffer. More...
 
void read_from_buffer (unsigned int buffer)
 Copy data from buffer to private memory. More...
 
int compare_buffers (unsigned int buffer)
 Compare buffer to private memory. More...
 
Time buffer_timestamp (unsigned int buffer)
 Get time of a buffer. More...
 
void buffer_timestamp (unsigned int buffer, Time *timestamp)
 Get time of a buffer. More...
 
void read ()
 Read from BlackBoard into local copy. More...
 
void write ()
 Write from local copy into BlackBoard memory. More...
 
bool has_writer () const
 Check if there is a writer for the interface. More...
 
unsigned int num_readers () const
 Get the number of readers. More...
 
std::string writer () const
 Get owner name of writing interface instance. More...
 
std::list< std::string > readers () const
 Get owner names of reading interface instances. More...
 
bool changed () const
 Check if data has been changed. More...
 
const Timetimestamp () const
 Get timestamp of last write. More...
 
void set_auto_timestamping (bool enabled)
 Enable or disable automated timestamping. More...
 
void set_timestamp (const Time *t=NULL)
 Set timestamp. More...
 
void set_clock (Clock *clock)
 Set clock to use for timestamping. More...
 
void mark_data_changed ()
 Mark data as changed. More...
 
std::list< const char * > get_message_types ()
 Obtain a list of textual representations of the message types available for this interface. More...
 
unsigned int msgq_enqueue (Message *message)
 Enqueue message at end of queue. More...
 
unsigned int msgq_enqueue_copy (Message *message)
 Enqueue copy of message at end of queue. More...
 
void msgq_remove (Message *message)
 Remove message from queue. More...
 
void msgq_remove (unsigned int message_id)
 Remove message from queue. More...
 
unsigned int msgq_size ()
 Get size of message queue. More...
 
void msgq_flush ()
 Flush all messages. More...
 
void msgq_lock ()
 Lock message queue. More...
 
bool msgq_try_lock ()
 Try to lock message queue. More...
 
void msgq_unlock ()
 Unlock message queue. More...
 
void msgq_pop ()
 Erase first message from queue. More...
 
Messagemsgq_first ()
 Get the first message from the message queue. More...
 
bool msgq_empty ()
 Check if queue is empty. More...
 
void msgq_append (Message *message)
 Enqueue message. More...
 
template<class MessageType >
bool msgq_first_is ()
 Check if first message has desired type. More...
 
template<class MessageType >
MessageType * msgq_first ()
 Get first message casted to the desired type. More...
 
template<class MessageType >
MessageType * msgq_first (MessageType *&msg)
 Get first message casted to the desired type. More...
 
template<class MessageType >
MessageType * msgq_first_safe (MessageType *&msg) throw ()
 Get first message casted to the desired type without exceptions. More...
 
MessageQueue::MessageIterator msgq_begin ()
 Get start iterator for message queue. More...
 
MessageQueue::MessageIterator msgq_end ()
 Get end iterator for message queue. More...
 
InterfaceFieldIterator fields ()
 Get iterator over all fields of this interface instance. More...
 
InterfaceFieldIterator fields_end ()
 Invalid iterator. More...
 
unsigned int num_fields ()
 Get the number of fields in the interface. More...
 

Static Public Attributes

static const uint32_t TYPE_OTHER = 0u
 TYPE_OTHER constant. More...
 
static const uint32_t TYPE_BALL = 1u
 TYPE_BALL constant. More...
 
static const uint32_t TYPE_OPPONENT = 2u
 TYPE_OPPONENT constant. More...
 
static const uint32_t TYPE_TEAMMEMBER = 3u
 TYPE_TEAMMEMBER constant. More...
 
static const uint32_t TYPE_LINE = 4u
 TYPE_LINE constant. More...
 
static const uint32_t TYPE_SELF = 5u
 TYPE_SELF constant. More...
 
static const uint32_t TYPE_GOAL_BLUE = 6u
 TYPE_GOAL_BLUE constant. More...
 
static const uint32_t TYPE_GOAL_YELLOW = 7u
 TYPE_GOAL_YELLOW constant. More...
 
static const uint32_t FLAG_NONE = 0u
 FLAG_NONE constant. More...
 
static const uint32_t FLAG_HAS_WORLD = 1u
 FLAG_HAS_WORLD constant. More...
 
static const uint32_t FLAG_HAS_RELATIVE_CARTESIAN = 2u
 FLAG_HAS_RELATIVE_CARTESIAN constant. More...
 
static const uint32_t FLAG_HAS_RELATIVE_POLAR = 4u
 FLAG_HAS_RELATIVE_POLAR constant. More...
 
static const uint32_t FLAG_HAS_EULER_ANGLES = 8u
 FLAG_HAS_EULER_ANGLES constant. More...
 
static const uint32_t FLAG_HAS_EXTENT = 16u
 FLAG_HAS_EXTENT constant. More...
 
static const uint32_t FLAG_HAS_VOLUME_EXTENT = 32u
 FLAG_HAS_VOLUME_EXTENT constant. More...
 
static const uint32_t FLAG_HAS_CIRCULAR_EXTENT = 64u
 FLAG_HAS_CIRCULAR_EXTENT constant. More...
 
static const uint32_t FLAG_HAS_COVARIANCES = 128u
 FLAG_HAS_COVARIANCES constant. More...
 
static const uint32_t FLAG_HAS_WORLD_VELOCITY = 256u
 FLAG_HAS_WORLD_VELOCITY constant. More...
 
static const uint32_t FLAG_HAS_Z_AS_ORI = 512u
 FLAG_HAS_Z_AS_ORI constant. More...
 
static const uint32_t FLAG_IS_FIXED_OBJECT = 1024u
 FLAG_IS_FIXED_OBJECT constant. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from fawkes::Interface
static void parse_uid (const char *uid, std::string &type, std::string &id)
 Parse UID to type and ID strings. More...
 
- Protected Member Functions inherited from fawkes::Interface
 Interface ()
 Constructor. More...
 
void set_hash (unsigned char *ihash)
 Set hash. More...
 
void add_fieldinfo (interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0)
 Add an entry to the field info list. More...
 
void add_messageinfo (const char *name)
 Add an entry to the message info list. More...
 
- Protected Attributes inherited from fawkes::Interface
void * data_ptr
 Pointer to local memory storage. More...
 
unsigned int data_size
 Minimal data size to hold data storage. More...
 
bool data_changed
 Indicator if data has changed. More...
 
interface_data_ts_tdata_ts
 Pointer to data casted to timestamp struct. More...
 

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

◆ bearing()

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 467 of file ObjectPositionInterface.cpp.

◆ copy_values()

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

Copy values from other interface.

Parameters
otherother interface to copy values from

Implements fawkes::Interface.

Definition at line 1465 of file ObjectPositionInterface.cpp.

References fawkes::Interface::type().

◆ create_message()

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
typemessage type
Returns
message of the given type, empty
Exceptions
UnknownTypeExceptionthrown if this interface cannot create a message of the given type.

Implements fawkes::Interface.

Definition at line 1454 of file ObjectPositionInterface.cpp.

◆ dbs_covariance() [1/2]

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 544 of file ObjectPositionInterface.cpp.

◆ dbs_covariance() [2/2]

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
indexindex of value
Returns
dbs_covariance value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 560 of file ObjectPositionInterface.cpp.

◆ distance()

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 430 of file ObjectPositionInterface.cpp.

◆ enum_tostring()

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
enumtypeenum type as string
valvalue to convert
Returns
string representation of value
Exceptions
UnknownTypeExceptionthrown if enumtype is not specified for interface.

Implements fawkes::Interface.

Definition at line 1476 of file ObjectPositionInterface.cpp.

◆ extent_x()

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 992 of file ObjectPositionInterface.cpp.

◆ extent_y()

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 1027 of file ObjectPositionInterface.cpp.

◆ extent_z()

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 1062 of file ObjectPositionInterface.cpp.

◆ flags()

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 182 of file ObjectPositionInterface.cpp.

◆ is_valid()

bool fawkes::ObjectPositionInterface::is_valid ( ) const

Get valid value.

True, if this position is valid.

Returns
valid value

Definition at line 248 of file ObjectPositionInterface.cpp.

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

◆ is_visible()

bool fawkes::ObjectPositionInterface::is_visible ( ) const

Get visible value.

True, if object is visible.

Returns
visible value

Definition at line 217 of file ObjectPositionInterface.cpp.

Referenced by LaserDrawingArea::on_expose_event().

◆ maxlenof_bearing()

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 477 of file ObjectPositionInterface.cpp.

◆ maxlenof_dbs_covariance()

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 573 of file ObjectPositionInterface.cpp.

◆ maxlenof_distance()

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 440 of file ObjectPositionInterface.cpp.

◆ maxlenof_extent_x()

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 1002 of file ObjectPositionInterface.cpp.

◆ maxlenof_extent_y()

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 1037 of file ObjectPositionInterface.cpp.

◆ maxlenof_extent_z()

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 1072 of file ObjectPositionInterface.cpp.

◆ maxlenof_flags()

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 192 of file ObjectPositionInterface.cpp.

◆ maxlenof_object_type()

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 155 of file ObjectPositionInterface.cpp.

◆ maxlenof_pitch()

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 369 of file ObjectPositionInterface.cpp.

◆ maxlenof_relative_x()

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 821 of file ObjectPositionInterface.cpp.

◆ maxlenof_relative_x_velocity()

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 1288 of file ObjectPositionInterface.cpp.

◆ maxlenof_relative_xyz_covariance()

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 947 of file ObjectPositionInterface.cpp.

◆ maxlenof_relative_xyz_velocity_covariance()

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 1414 of file ObjectPositionInterface.cpp.

◆ maxlenof_relative_y()

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 856 of file ObjectPositionInterface.cpp.

◆ maxlenof_relative_y_velocity()

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 1323 of file ObjectPositionInterface.cpp.

◆ maxlenof_relative_z()

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 891 of file ObjectPositionInterface.cpp.

◆ maxlenof_relative_z_velocity()

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 1358 of file ObjectPositionInterface.cpp.

◆ maxlenof_roll()

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 334 of file ObjectPositionInterface.cpp.

◆ maxlenof_slope()

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 515 of file ObjectPositionInterface.cpp.

◆ maxlenof_valid()

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 258 of file ObjectPositionInterface.cpp.

◆ maxlenof_visibility_history()

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 295 of file ObjectPositionInterface.cpp.

◆ maxlenof_visible()

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 227 of file ObjectPositionInterface.cpp.

◆ maxlenof_world_x()

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 630 of file ObjectPositionInterface.cpp.

◆ maxlenof_world_x_velocity()

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 1107 of file ObjectPositionInterface.cpp.

◆ maxlenof_world_xyz_covariance()

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 766 of file ObjectPositionInterface.cpp.

◆ maxlenof_world_xyz_velocity_covariance()

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 1233 of file ObjectPositionInterface.cpp.

◆ maxlenof_world_y()

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 669 of file ObjectPositionInterface.cpp.

◆ maxlenof_world_y_velocity()

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 1142 of file ObjectPositionInterface.cpp.

◆ maxlenof_world_z()

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 708 of file ObjectPositionInterface.cpp.

◆ maxlenof_world_z_velocity()

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 1177 of file ObjectPositionInterface.cpp.

◆ maxlenof_yaw()

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 404 of file ObjectPositionInterface.cpp.

◆ message_valid()

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

Check if message is valid and can be enqueued.

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

Implements fawkes::Interface.

Definition at line 1487 of file ObjectPositionInterface.cpp.

◆ object_type()

uint32_t fawkes::ObjectPositionInterface::object_type ( ) const

Get object_type value.

Object type, use constants to define

Returns
object_type value

Definition at line 145 of file ObjectPositionInterface.cpp.

◆ pitch()

float fawkes::ObjectPositionInterface::pitch ( ) const

Get pitch value.

Pitch value for the orientation of the object in space.

Returns
pitch value

Definition at line 359 of file ObjectPositionInterface.cpp.

◆ relative_x()

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 811 of file ObjectPositionInterface.cpp.

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

◆ relative_x_velocity()

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 1278 of file ObjectPositionInterface.cpp.

◆ relative_xyz_covariance() [1/2]

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 918 of file ObjectPositionInterface.cpp.

◆ relative_xyz_covariance() [2/2]

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
indexindex of value
Returns
relative_xyz_covariance value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 934 of file ObjectPositionInterface.cpp.

◆ relative_xyz_velocity_covariance() [1/2]

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 1385 of file ObjectPositionInterface.cpp.

◆ relative_xyz_velocity_covariance() [2/2]

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
indexindex of value
Returns
relative_xyz_velocity_covariance value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 1401 of file ObjectPositionInterface.cpp.

◆ relative_y()

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 846 of file ObjectPositionInterface.cpp.

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

◆ relative_y_velocity()

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 1313 of file ObjectPositionInterface.cpp.

◆ relative_z()

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 881 of file ObjectPositionInterface.cpp.

◆ relative_z_velocity()

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 1348 of file ObjectPositionInterface.cpp.

◆ roll()

float fawkes::ObjectPositionInterface::roll ( ) const

Get roll value.

Roll value for the orientation of the object in space.

Returns
roll value

Definition at line 324 of file ObjectPositionInterface.cpp.

◆ set_bearing()

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_bearingnew bearing value

Definition at line 490 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_dbs_covariance() [1/2]

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_covariancenew dbs_covariance value
indexindex for of the value

Definition at line 603 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_dbs_covariance() [2/2]

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_covariancenew dbs_covariance value

Definition at line 587 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_distance()

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_distancenew distance value

Definition at line 453 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_extent_x()

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_xnew extent_x value

Definition at line 1014 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_extent_y()

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_ynew extent_y value

Definition at line 1049 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_extent_z()

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_znew extent_z value

Definition at line 1084 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_flags()

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_flagsnew flags value

Definition at line 206 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_object_type()

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_typenew object_type value

Definition at line 167 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_pitch()

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

Set pitch value.

Pitch value for the orientation of the object in space.

Parameters
new_pitchnew pitch value

Definition at line 381 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_relative_x()

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_xnew relative_x value

Definition at line 833 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by PlayerPositionMapper::sync_player_to_fawkes().

◆ set_relative_x_velocity()

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_velocitynew relative_x_velocity value

Definition at line 1300 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_relative_xyz_covariance() [1/2]

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_covariancenew relative_xyz_covariance value
indexindex for of the value

Definition at line 977 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_relative_xyz_covariance() [2/2]

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_covariancenew relative_xyz_covariance value

Definition at line 961 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_relative_xyz_velocity_covariance() [1/2]

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_covariancenew relative_xyz_velocity_covariance value
indexindex for of the value

Definition at line 1444 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_relative_xyz_velocity_covariance() [2/2]

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_covariancenew relative_xyz_velocity_covariance value

Definition at line 1428 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_relative_y()

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_ynew relative_y value

Definition at line 868 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by PlayerPositionMapper::sync_player_to_fawkes().

◆ set_relative_y_velocity()

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_velocitynew relative_y_velocity value

Definition at line 1335 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_relative_z()

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_znew relative_z value

Definition at line 903 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by PlayerPositionMapper::sync_player_to_fawkes().

◆ set_relative_z_velocity()

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_velocitynew relative_z_velocity value

Definition at line 1370 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_roll()

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

Set roll value.

Roll value for the orientation of the object in space.

Parameters
new_rollnew roll value

Definition at line 346 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_slope()

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_slopenew slope value

Definition at line 529 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_valid()

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

Set valid value.

True, if this position is valid.

Parameters
new_validnew valid value

Definition at line 268 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_visibility_history()

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_historynew visibility_history value

Definition at line 311 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_visible()

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

Set visible value.

True, if object is visible.

Parameters
new_visiblenew visible value

Definition at line 237 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_world_x()

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_xnew world_x value

Definition at line 644 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_world_x_velocity()

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_velocitynew world_x_velocity value

Definition at line 1119 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_world_xyz_covariance() [1/2]

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_covariancenew world_xyz_covariance value
indexindex for of the value

Definition at line 796 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_world_xyz_covariance() [2/2]

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_covariancenew world_xyz_covariance value

Definition at line 780 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_world_xyz_velocity_covariance() [1/2]

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_covariancenew world_xyz_velocity_covariance value
indexindex for of the value

Definition at line 1263 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_world_xyz_velocity_covariance() [2/2]

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_covariancenew world_xyz_velocity_covariance value

Definition at line 1247 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_world_y()

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_ynew world_y value

Definition at line 683 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_world_y_velocity()

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_velocitynew world_y_velocity value

Definition at line 1154 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_world_z()

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_znew world_z value

Definition at line 722 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_world_z_velocity()

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_velocitynew world_z_velocity value

Definition at line 1189 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_yaw()

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

Set yaw value.

Yaw value for the orientation of the object in space.

Parameters
new_yawnew yaw value

Definition at line 416 of file ObjectPositionInterface.cpp.

References fawkes::Interface::data_changed.

◆ slope()

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 505 of file ObjectPositionInterface.cpp.

◆ visibility_history()

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 285 of file ObjectPositionInterface.cpp.

◆ world_x()

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 620 of file ObjectPositionInterface.cpp.

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

◆ world_x_velocity()

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 1097 of file ObjectPositionInterface.cpp.

◆ world_xyz_covariance() [1/2]

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 737 of file ObjectPositionInterface.cpp.

◆ world_xyz_covariance() [2/2]

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
indexindex of value
Returns
world_xyz_covariance value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 753 of file ObjectPositionInterface.cpp.

◆ world_xyz_velocity_covariance() [1/2]

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 1204 of file ObjectPositionInterface.cpp.

◆ world_xyz_velocity_covariance() [2/2]

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
indexindex of value
Returns
world_xyz_velocity_covariance value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 1220 of file ObjectPositionInterface.cpp.

◆ world_y()

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 659 of file ObjectPositionInterface.cpp.

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

◆ world_y_velocity()

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 1132 of file ObjectPositionInterface.cpp.

◆ world_z()

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 698 of file ObjectPositionInterface.cpp.

◆ world_z_velocity()

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 1167 of file ObjectPositionInterface.cpp.

◆ yaw()

float fawkes::ObjectPositionInterface::yaw ( ) const

Get yaw value.

Yaw value for the orientation of the object in space.

Returns
yaw value

Definition at line 394 of file ObjectPositionInterface.cpp.

Member Data Documentation

◆ FLAG_HAS_CIRCULAR_EXTENT

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

FLAG_HAS_CIRCULAR_EXTENT constant.

Definition at line 55 of file ObjectPositionInterface.h.

◆ FLAG_HAS_COVARIANCES

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

FLAG_HAS_COVARIANCES constant.

Definition at line 56 of file ObjectPositionInterface.h.

◆ FLAG_HAS_EULER_ANGLES

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

FLAG_HAS_EULER_ANGLES constant.

Definition at line 52 of file ObjectPositionInterface.h.

◆ FLAG_HAS_EXTENT

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

FLAG_HAS_EXTENT constant.

Definition at line 53 of file ObjectPositionInterface.h.

◆ FLAG_HAS_RELATIVE_CARTESIAN

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

FLAG_HAS_RELATIVE_CARTESIAN constant.

Definition at line 50 of file ObjectPositionInterface.h.

◆ FLAG_HAS_RELATIVE_POLAR

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

FLAG_HAS_RELATIVE_POLAR constant.

Definition at line 51 of file ObjectPositionInterface.h.

◆ FLAG_HAS_VOLUME_EXTENT

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

FLAG_HAS_VOLUME_EXTENT constant.

Definition at line 54 of file ObjectPositionInterface.h.

◆ FLAG_HAS_WORLD

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

FLAG_HAS_WORLD constant.

Definition at line 49 of file ObjectPositionInterface.h.

◆ FLAG_HAS_WORLD_VELOCITY

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

FLAG_HAS_WORLD_VELOCITY constant.

Definition at line 57 of file ObjectPositionInterface.h.

◆ FLAG_HAS_Z_AS_ORI

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.

◆ FLAG_IS_FIXED_OBJECT

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

FLAG_IS_FIXED_OBJECT constant.

Definition at line 59 of file ObjectPositionInterface.h.

◆ FLAG_NONE

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

FLAG_NONE constant.

Definition at line 48 of file ObjectPositionInterface.h.

◆ TYPE_BALL

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

TYPE_BALL constant.

Definition at line 41 of file ObjectPositionInterface.h.

◆ TYPE_GOAL_BLUE

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

TYPE_GOAL_BLUE constant.

Definition at line 46 of file ObjectPositionInterface.h.

◆ TYPE_GOAL_YELLOW

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

TYPE_GOAL_YELLOW constant.

Definition at line 47 of file ObjectPositionInterface.h.

◆ TYPE_LINE

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

TYPE_LINE constant.

Definition at line 44 of file ObjectPositionInterface.h.

◆ TYPE_OPPONENT

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

TYPE_OPPONENT constant.

Definition at line 42 of file ObjectPositionInterface.h.

◆ TYPE_OTHER

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

TYPE_OTHER constant.

Definition at line 40 of file ObjectPositionInterface.h.

◆ TYPE_SELF

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

TYPE_SELF constant.

Definition at line 45 of file ObjectPositionInterface.h.

◆ TYPE_TEAMMEMBER

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: