NimbRo ROS Soccer Package
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field_model::WorldObject Class Reference

#include <field_model.h>

Public Types

enum  Type {
  Type_Circle, Type_Goal, Type_GoalPost, Type_XMarker,
  Type_FieldLine, Type_LineXingT, Type_LineXingX, Type_LineXingL,
  Type_MagneticHeading, NumTypes
}
 Object type. More...
 
typedef std::vector
< Eigen::Vector2d,
Eigen::aligned_allocator
< Eigen::Vector2d > > 		PointsType
 

Public Member Functions

 WorldObject (Type type, const Eigen::Vector3d &pose)
 
 WorldObject (Type type, double x, double y, double t=0.0)
 
 WorldObject (Type type, const PointsType &points)
 
WorldObject mirrorX () const
 
WorldObject mirrorY () const
 
Eigen::Vector3d pose () const
 Object pose (x, y, theta)
 
const PointsType & points () const
 Points belonging to the object (e.g. line start and end)
 
Type type () const
 Object type.
 

Protected Member Functions

void setPose (const Eigen::Vector3d &pose)
 

Friends

class FieldModel
 

Detailed Description

Objects occuring in our soccer world.

Member Enumeration Documentation

enum field_model::WorldObject::Type

Object type.

Enumerator
Type_Circle 

Center circle.

Type_Goal 

Goal (center position)

Type_GoalPost 

A single goal post.

Type_XMarker 

One of the two penalty markers.

Type_FieldLine 

Field line.

Type_LineXingT 

T-crossing of two lines.

Type_LineXingX 

X-crossing of two lines.

Type_LineXingL 

L-crossing of two lines.

Type_MagneticHeading 

Magnetic heading towards X+.

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