A simple class for abstracting away the source of the field dimensions. More...

#include <wak_utils.h>

Public Member Functions
FieldModel::FieldType	fieldType () const
	The type of the field that is being played on.

const std::string &	fieldTypeName () const
	A string representation of the type of the field that is being played on.

float	fieldLength () const
	The length of the field from one goal side to the other.

float	fieldWidth () const
	The width of the field from one sideline to the other.

float	circleDiameter () const
	The diameter of the centre circle.

float	boundary () const
	The width of the green boundary (on all four sides) outside the outer white lines of the field.

float	goalWidth () const
	The width of the goals from one goal post to the other.

float	goalAreaLength () const
	The smaller dimension of the goal area box, from the goal line to the manual robot starting line.

float	goalAreaWidth () const
	The larger dimension of the goal area box, from outside of the left goal post to outside of.

float	penaltyMarkDist () const
	The distance from the goal line to the penalty marker in that half of the field.

float	ballDiameter () const
	The diameter of the ball.

float	fieldLengthH () const
	Half of the length of the field, i.e. the distance from the centre line to the goal lines.

float	fieldWidthH () const
	Half of the width of the field, i.e. the distance from centre point to the side lines.

float	circleRadius () const
	The radius of the centre circle.

float	goalWidthH () const
	Half of the width of the goals, i.e. half of the distance separation between the two goal posts.

float	ballRadius () const
	The radius of the ball.

Detailed Description

A simple class for abstracting away the source of the field dimensions.

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

/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/behaviour/walk_and_kick/include/walk_and_kick/wak_utils.h

Public Member Functions