localization module More...

#include <localization.h>

Inheritance diagram for rcsc::Localization:

Classes
struct	PlayerT
	localized player info More...

Public Member Functions
virtual	~Localization ()=default
	destructor

virtual bool	updateBySenseBody (const BodySensor &body)=0
	update internal state using received sense_body information More...

virtual bool	estimateSelfFace (const WorldModel &wm, const VisualSensor &see, double self_face, double self_face_err)=0
	estimate self facing direction. More...

virtual bool	localizeSelf (const WorldModel &wm, const VisualSensor &see, const ActionEffector &act, const double self_face, const double self_face_err, Vector2D self_pos, Vector2D self_pos_err)=0
	localize self position. More...

virtual bool	localizeBallRelative (const WorldModel &wm, const VisualSensor &see, const double self_face, const double self_face_err, Vector2D rpos, Vector2D rpos_err, Vector2D rvel, Vector2D rvel_err) const =0
	localze ball relative info More...

virtual bool	localizePlayer (const WorldModel &wm, const VisualSensor::PlayerT &from, const double self_face, const double self_face_err, const Vector2D &self_pos, const Vector2D &self_vel, PlayerT *to) const =0
	localze other player More...

Protected Member Functions
	Localization ()=default
	default constructor (protected)

Detailed Description

localization module

Member Function Documentation

◆ estimateSelfFace()

virtual bool rcsc::Localization::estimateSelfFace	(	const WorldModel &	wm,
		const VisualSensor &	see,
		double *	self_face,
		double *	self_face_err
	)

pure virtual

estimate self facing direction.

Parameters

wm	world model
see	analyzed see information
self_face	pointer to the result variable
self_face_err	pointer to the result variable

Returns: result

Implemented in rcsc::LocalizationDefault.

◆ localizeBallRelative()

virtual bool rcsc::Localization::localizeBallRelative	(	const WorldModel &	wm,
		const VisualSensor &	see,
		const double	self_face,
		const double	self_face_err,
		Vector2D *	rpos,
		Vector2D *	rpos_err,
		Vector2D *	rvel,
		Vector2D *	rvel_err
	)		const

pure virtual

localze ball relative info

Parameters

wm	world model
see	analyzed see info
self_face	localized self face angle
self_face_err	localized self face angle error
rpos	pointer to the variable to store the localized relative position
rpos_err	pointer to the variable to store the localized relative position error
rvel	pointer to the variable to store the localized relative velocity
rvel_err	pointer to the variable to store the localized relative velocity error

Returns: if failed, returns false

Implemented in rcsc::LocalizationDefault.

◆ localizePlayer()

virtual bool rcsc::Localization::localizePlayer	(	const WorldModel &	wm,
		const VisualSensor::PlayerT &	from,
		const double	self_face,
		const double	self_face_err,
		const Vector2D &	self_pos,
		const Vector2D &	self_vel,
		PlayerT *	to
	)		const

pure virtual

localze other player

Parameters

wm	world model
from	seen player info
self_face	localized self face angle
self_face_err	localized self face angle error
self_pos	localized self position
self_vel	localized self velocity
to	pointer to the variable to store the localized result

Returns: if failed, returns false

Implemented in rcsc::LocalizationDefault.

◆ localizeSelf()

virtual bool rcsc::Localization::localizeSelf	(	const WorldModel &	wm,
		const VisualSensor &	see,
		const ActionEffector &	act,
		const double	self_face,
		const double	self_face_err,
		Vector2D *	self_pos,
		Vector2D *	self_pos_err
	)

pure virtual

localize self position.

Parameters

wm	world model
see	analyzed see info
act	the last action info
self_face	localized face angle
self_face_err	localized face angle error
self_pos	pointer to the variable to store the localized self position
self_pos_err	pointer to the variable to store the localized self position error

Returns: if failed, returns false

Implemented in rcsc::LocalizationDefault.

◆ updateBySenseBody()

virtual bool rcsc::Localization::updateBySenseBody ( const BodySensor & body )

pure virtual

update internal state using received sense_body information

Parameters

body	sense_body object

Returns: result

Implemented in rcsc::LocalizationDefault.

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

/home/kali/rc/tools/include/rcsc/player/localization.h

Classes

Public Member Functions

Protected Member Functions

Detailed Description

Member Function Documentation

◆ estimateSelfFace()

◆ localizeBallRelative()

◆ localizePlayer()

◆ localizeSelf()

◆ updateBySenseBody()