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walk_and_kick::GCVars Class Reference

A class that encapsulates all of the game controller input data to the walk and kick node. More...

#include <wak_gc_vars.h>

Public Types

enum  GameState {
  GS_INITIAL = rcup_game_controller::GCData::STATE_INITIAL, GS_READY = rcup_game_controller::GCData::STATE_READY, GS_SET = rcup_game_controller::GCData::STATE_SET, GS_PLAYING = rcup_game_controller::GCData::STATE_PLAYING,
  GS_FINISHED = rcup_game_controller::GCData::STATE_FINISHED
}
 
enum  GamePhase { GP_NORMAL = rcup_game_controller::GCData::SECSTATE_NORMAL, GP_PENALTY = rcup_game_controller::GCData::SECSTATE_PENALTYSHOOT, GP_OVERTIME = rcup_game_controller::GCData::SECSTATE_OVERTIME, GP_TIMEOUT = rcup_game_controller::GCData::SECSTATE_TIMEOUT }
 
enum  PenaltyState {
  PS_NONE = rcup_game_controller::GCRobotInfo::PENALTY_NONE, PS_BALL_MANIPULATION = rcup_game_controller::GCRobotInfo::PENALTY_BALL_MANIPULATION, PS_PHYSICAL_CONTACT = rcup_game_controller::GCRobotInfo::PENALTY_PHYSICAL_CONTACT, PS_ILLEGAL_ATTACK = rcup_game_controller::GCRobotInfo::PENALTY_ILLEGAL_ATTACK,
  PS_ILLEGAL_DEFENSE = rcup_game_controller::GCRobotInfo::PENALTY_ILLEGAL_DEFENSE, PS_REQ_PICKUP = rcup_game_controller::GCRobotInfo::PENALTY_REQUEST_FOR_PICKUP, PS_REQ_SERVICE = rcup_game_controller::GCRobotInfo::PENALTY_REQUEST_FOR_SERVICE, PS_REQ_PICKUP_SERVICE = rcup_game_controller::GCRobotInfo::PENALTY_REQUEST_FOR_PICKUP_2_SERVICE,
  PS_ON_THE_BENCH = rcup_game_controller::GCRobotInfo::PENALTY_SUBSTITUTE, PS_MANUAL = rcup_game_controller::GCRobotInfo::PENALTY_MANUAL
}
 

Public Member Functions

 GCVars (WAKConfig *config, plot_msgs::PlotManagerFS *PM, WAKMarkerMan *MM)
 
bool update (const rcup_game_controller::GCData &data, const ros::Time &now)
 
bool baseDataIsFresh (const ros::Time &now) const
 
bool extraDataIsFresh (const ros::Time &now) const
 

Public Attributes

WAKConfig *const config
 
unsigned int seqID
 
ros::Time stampBase
 
ros::Time stampExtra
 
bool extraOutOfDate
 
unsigned int playersPerTeam
 
GameState gameState
 
GamePhase gamePhase
 
KickoffType kickoffType
 
bool isPenaltyTaker
 
SmoothTime timeRemaining
 
SmoothTime secondaryTime
 
SmoothTime timeToBallInPlay
 
PenaltyState ownPenaltyState
 
SmoothTime ownPenaltyTimeRemaining
 
bool ownIsPenalised
 
bool ownIsOnBench
 
bool ownIsPlaying
 
TeamState ownTeam
 
TeamState oppTeam
 

Detailed Description

A class that encapsulates all of the game controller input data to the walk and kick node.

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