NimbRo ROS Soccer Package
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field_model::FieldModel Class Reference

Model of the soccer field. More...

#include <field_model.h>

Public Types

enum  FieldType {
  UnknownField = 0, TeenSizeField, KidSizeField, BonnField,
  NumFieldTypes
}
 

Public Member Functions

FieldType type () const
 Field type.
 
const std::string & typeName () const
 Field type name.
 
double width () const
 Field width (inside the lines)
 
double length () const
 Field length (inside the lines)
 
double boundary () const
 Field boundary (amount of green outside the field boundary)
 
double goalWidth () const
 Goal width.
 
double goalAreaWidth () const
 Width of the penalty area before each goal.
 
double goalAreaDepth () const
 Depth of the penalty area before each goal.
 
double centerCircleDiameter () const
 
double penaltyMarkerDist () const
 Distance from the goal line to the penalty marker.
 
double ballDiameter () const
 Diameter of the ball.
 
double borderTop () const
 Border for the top(positive) part of the field.
 
double borderBottom () const
 Border for the bottom(negative) part of the field.
 
double borderLeft () const
 Border for the left(when looking to positive goal) part of the field.
 
double borderRight () const
 Border for the right(when looking to positive goal) part of the field.
 
const std::vector< WorldObject > & objects (WorldObject::Type type) const
 Objects for a specific WorldObject::Type.
 
void setMagneticHeading (double heading)
 
double magneticHeading () const
 

Static Public Member Functions

static FieldModel * getInstance ()
 
static const std::string & fieldTypeName (FieldType type)
 

Static Public Attributes

static const std::string FieldTypeName [NumFieldTypes]
 

Detailed Description

Model of the soccer field.

All distances are given in meters.

Member Data Documentation

const std::string field_model::FieldModel::FieldTypeName
static
Initial value:
= {
"unknown",
"teensize",
"kidsize",
"bonn"
}
The documentation for this class was generated from the following files: