Data container to store and exchange worldinfo data. More...

#include <>>

Classes
struct	GameState
	Container struct for momentary game state infos. More...

Public Member Functions
	WorldInfoDataContainer (Clock *clock, long timeout_msec=3000)
	Constructor.
	~WorldInfoDataContainer ()
	Destructor.
bool	check_timeout ()
	Check for timed out hosts.
void	set_timeout (long msec)
	Set the time out.
std::list< std::string >	get_hosts (bool check_timeout_first=false)
	Obtain the list of active hosts.
std::list< std::string >	get_timedout_hosts ()
	Obtain the list of timedout hosts.
bool	new_data_available ()
	Check whehter new data is available.
bool	new_host ()
	Check whether a new host has been added recently.
bool	host_timedout ()
	Check whether a host has timed out.
void	set_robot_pose (const char from_host, float x, float y, float theta, float covariance)
	Set the pose of a robot.
bool	get_robot_pose (const char *host, HomPose2d &robot_pose)
	Obtain the pose of the given robot.
bool	get_robot_pose (const char *host, HomPose2d &robot_pose, Matrix &robot_pose_cov)
	Get the position of a certain robot.
void	set_robot_velocity (const char from_host, float vel_x, float vel_y, float vel_theta, float covariance)
	Set the velocity of the robot.
bool	get_robot_velocity (const char *host, HomVector &robot_vel)
	Obtain current velocity of the specified robot.
void	set_ball_pos (const char from_host, bool visible, int visibility_history, float dist, float bearing, float slope, float covariance)
	Set the ball position estimation of a robot.
void	set_ball_pos_global (const char from_host, bool visible, int visibility_history, float x, float y, float z, float covariance)
	Set the global ball position estimation of a robot.
bool	get_ball_pos_relative (const char *host, HomPolar &ball_pos)
	Get the ball position estimation of a certain robot.
bool	get_ball_pos_relative (const char *host, HomPolar &ball_pos, Matrix &ball_pos_cov)
	Get the ball position estimation of a certain robot.
bool	get_ball_pos_global (const char *host, HomPoint &ball_pos)
	Get the global position of the ball as it is estimated by the specified robot.
void	set_ball_velocity (const char from_host, float vel_x, float vel_y, float vel_z, float covariance)
	Set the ball velocity as it is estimated by the specified robot.
bool	get_ball_velocity (const char *from_host, HomVector &ball_vel)
	Obtain ball velocity information for specified robot.
void	set_opponent_pos (const char from_host, unsigned int uid, float distance, float angle, float covariance)
	Set the position of a detected opponent.
void	opponent_disappeared (const char *from_host, unsigned int uid)
	Remove the opponent with the given ID form the list of opponents seen by the given robot.
bool	get_opponent_pos (const char *host, std::map< unsigned int, HomPoint > &opp_positions)
	Get all oppenents detected by a certain robot.
void	set_game_state (int game_state, worldinfo_gamestate_team_t state_team, unsigned int score_cyan, unsigned int score_magenta, worldinfo_gamestate_team_t own_team, worldinfo_gamestate_goalcolor_t own_goal_color, worldinfo_gamestate_half_t half)
	Set the gamestate.
GameState	get_game_state () const
	Obtain the game state.
std::string	get_game_state_string () const
	Get the current game state as string.
std::string	get_half_string () const
	Get the current half as string.
unsigned int	get_own_score () const
	Get own score.
unsigned int	get_other_score () const
	Get score of the other team.
worldinfo_gamestate_team_t	get_own_team_color () const
	Get own team color.
std::string	get_own_team_color_string () const
	Get own team color as string.
worldinfo_gamestate_goalcolor_t	get_own_goal_color () const
	Get own goal color.
std::string	get_own_goal_color_string () const
	Get own goal color as string.

Detailed Description

Data container to store and exchange worldinfo data.

Author:: Daniel Beck

Definition at line 43 of file data_container.h.

Constructor & Destructor Documentation

fawkes::WorldInfoDataContainer::WorldInfoDataContainer	(	Clock *	clock,
		long	timeout_msec = `3000`
	)

Constructor.

Parameters:

clock	pointer to a Clock
timeout_msec	timeout in milliseconds

Definition at line 256 of file data_container.cpp.

References fawkes::GOAL_BLUE, fawkes::GS_FROZEN, fawkes::HALF_FIRST, fawkes::TEAM_BOTH, and fawkes::TEAM_CYAN.

fawkes::WorldInfoDataContainer::~WorldInfoDataContainer ( )

Destructor.

Definition at line 279 of file data_container.cpp.

Member Function Documentation

bool fawkes::WorldInfoDataContainer::check_timeout ( )

Check for timed out hosts.

This method should be called regularly to remove hosts from the data container from which no data has been received in a certain amount of time.

Returns:: true if there are timed out hosts

Definition at line 290 of file data_container.cpp.

References fawkes::Time::in_msec(), and fawkes::Time::stamp().

bool fawkes::WorldInfoDataContainer::get_ball_pos_global	(	const char *	host,
		HomPoint &	pos
	)

Get the global position of the ball as it is estimated by the specified robot.

Parameters:

host	the robot's hostname
pos	refercence to a HomPoint where the position of the ball written to

Returns:: true if position was found/received, false otherwise

Definition at line 713 of file data_container.cpp.

References fawkes::HomPose2d::x(), fawkes::HomPose2d::y(), and fawkes::HomPose2d::yaw().

bool fawkes::WorldInfoDataContainer::get_ball_pos_relative	(	const char *	host,
		HomPolar &	pos
	)

Get the ball position estimation of a certain robot.

Parameters:

host	the hostname of the robot
pos	reference to a HomPolar where the position is written to

Returns:: true if a global ball position was found

Definition at line 655 of file data_container.cpp.

bool fawkes::WorldInfoDataContainer::get_ball_pos_relative	(	const char *	host,
		HomPolar &	pos,
		Matrix &	pos_cov
	)

Get the ball position estimation of a certain robot.

Parameters:

host	the hostname of the robot
pos	reference to a HomPolar where the position is written to
pos_cov	reference to a Matrix where the ball position covariance is written to

Returns:: true if a global ball position was found

Definition at line 683 of file data_container.cpp.

bool fawkes::WorldInfoDataContainer::get_ball_velocity	(	const char *	host,
		HomVector &	ball_vel
	)

Obtain ball velocity information for specified robot.

Parameters:

host	the hostname of the robot
ball_vel	refrence to a HomVector where the velocity information is written to

Returns:: true if ball velocity information from the specified robot are available

Definition at line 787 of file data_container.cpp.

WorldInfoDataContainer::GameState fawkes::WorldInfoDataContainer::get_game_state ( ) const

Obtain the game state.

Returns:: the current game state

Definition at line 915 of file data_container.cpp.

std::string fawkes::WorldInfoDataContainer::get_game_state_string ( ) const

Get the current game state as string.

Returns:: the current game mode

Definition at line 924 of file data_container.cpp.

References fawkes::worldinfo_gamestate_team_tostring(), and fawkes::worldinfo_msl_gamestate_tostring().

std::string fawkes::WorldInfoDataContainer::get_half_string ( ) const

Get the current half as string.

Returns:: the current half

Definition at line 942 of file data_container.cpp.

References fawkes::worldinfo_gamestate_half_tostring().

std::list< std::string > fawkes::WorldInfoDataContainer::get_hosts ( bool check_timeout_first = false )

Obtain the list of active hosts.

Parameters:

check_timeout_first if true check_timeout() is called before the list is compiled

Returns:: the list of active hosts

Definition at line 350 of file data_container.cpp.

bool fawkes::WorldInfoDataContainer::get_opponent_pos	(	const char *	host,
		std::map< unsigned int, HomPoint > &	opp_positions
	)

Get all oppenents detected by a certain robot.

Parameters:

host	hostname of the robot
opp_positions	map containing the positions of the detected opponents

Returns:: false if no data about opponents is available from the given robot

Definition at line 865 of file data_container.cpp.

unsigned int fawkes::WorldInfoDataContainer::get_other_score ( ) const

Get score of the other team.

Returns:: the other team's score

Definition at line 965 of file data_container.cpp.

References fawkes::TEAM_CYAN.

worldinfo_gamestate_goalcolor_t fawkes::WorldInfoDataContainer::get_own_goal_color ( ) const

Get own goal color.

Returns:: struct containing the own goal color

Definition at line 997 of file data_container.cpp.

std::string fawkes::WorldInfoDataContainer::get_own_goal_color_string ( ) const

Get own goal color as string.

Returns:: string with the current goal color

Definition at line 1006 of file data_container.cpp.

References fawkes::worldinfo_gamestate_goalcolor_tostring().

unsigned int fawkes::WorldInfoDataContainer::get_own_score ( ) const

Get own score.

Returns:: own score

Definition at line 953 of file data_container.cpp.

References fawkes::TEAM_CYAN.

worldinfo_gamestate_team_t fawkes::WorldInfoDataContainer::get_own_team_color ( ) const

Get own team color.

Returns:: struct containing the own team color

Definition at line 977 of file data_container.cpp.

std::string fawkes::WorldInfoDataContainer::get_own_team_color_string ( ) const

Get own team color as string.

Returns:: string with the own team color

Definition at line 986 of file data_container.cpp.

References fawkes::worldinfo_gamestate_team_tostring().

bool fawkes::WorldInfoDataContainer::get_robot_pose	(	const char *	host,
		HomPose2d &	pose
	)

Obtain the pose of the given robot.

Parameters:

host	the hostname of the robot
pose	reference to a HomPose where the pose will be stored

Returns:: false if no pose for the requested robot could be found

Definition at line 463 of file data_container.cpp.

bool fawkes::WorldInfoDataContainer::get_robot_pose	(	const char *	host,
		HomPose2d &	pose,
		Matrix &	pose_cov
	)

Get the position of a certain robot.

Parameters:

host	the hostname of the robot
pose	reference to a HomPoint where the global position of the robot is written to
pose_cov	reference to a Matrix where the covariance of the robot position is written to

Returns:: true if a pose for the robot could be found

Definition at line 492 of file data_container.cpp.

bool fawkes::WorldInfoDataContainer::get_robot_velocity	(	const char *	host,
		HomVector &	robot_vel
	)

Obtain current velocity of the specified robot.

Parameters:

host	the hostname of the robot
robot_vel	reference to a HomVector where the velocity information is written to

Returns:: true, if velocity information for the specified host are available

Definition at line 558 of file data_container.cpp.

std::list< std::string > fawkes::WorldInfoDataContainer::get_timedout_hosts ( )

Obtain the list of timedout hosts.

Hosts that have been marked as timedout in the last call of check_timeout().

Returns:: the list of timedout hosts

Definition at line 373 of file data_container.cpp.

bool fawkes::WorldInfoDataContainer::host_timedout ( )

Check whether a host has timed out.

Returns:: true if a host has timed out recently

Definition at line 413 of file data_container.cpp.

bool fawkes::WorldInfoDataContainer::new_data_available ( )

Check whehter new data is available.

Returns:: true if new data is available.

Definition at line 391 of file data_container.cpp.

bool fawkes::WorldInfoDataContainer::new_host ( )

Check whether a new host has been added recently.

Returns:: true if a new host has been added recently

Definition at line 402 of file data_container.cpp.

void fawkes::WorldInfoDataContainer::opponent_disappeared	(	const char *	host,
		unsigned int	uid
	)

Remove the opponent with the given ID form the list of opponents seen by the given robot.

Parameters:

host	the hostname of the robot
uid	the uid of the opponent

Definition at line 843 of file data_container.cpp.

Referenced by WorldInfoViewerBackendThread::opponent_disapp_rcvd().

void fawkes::WorldInfoDataContainer::set_ball_pos	(	const char *	host,
		bool	visible,
		int	visibility_history,
		float	dist,
		float	bearing,
		float	slope,
		float *	covariance
	)

Set the ball position estimation of a robot.

Parameters:

host	the hostname of the robot
visible	visible or not
visibility_history	visible/not visible for n iterations
dist	distance to the robot
bearing	vertical angle to the ball
slope	the horizontal angle to the ball
covariance	covariance associated with the position estimation

Definition at line 576 of file data_container.cpp.

Referenced by WorldInfoViewerBackendThread::ball_pos_rcvd().

void fawkes::WorldInfoDataContainer::set_ball_pos_global	(	const char *	host,
		bool	visible,
		int	visibility_history,
		float	x,
		float	y,
		float	z,
		float *	covariance
	)

Set the global ball position estimation of a robot.

Parameters:

host	the hostname of the robot
visible	visible or not
visibility_history	visible/not visible for n iterations
x	the x-coordinte of the global ball position
y	the y-coordinte of the global ball position
z	the z-coordinte of the global ball position
covariance	covariance associated with the position estimation

Definition at line 617 of file data_container.cpp.

Referenced by WorldInfoViewerBackendThread::global_ball_pos_rcvd().

void fawkes::WorldInfoDataContainer::set_ball_velocity	(	const char *	host,
		float	vel_x,
		float	vel_y,
		float	vel_z,
		float *	covariance
	)

Set the ball velocity as it is estimated by the specified robot.

Parameters:

host	the hostname of the robot
vel_x	the ball velocity in x-direction of the robot-centered coordinate system
vel_y	the ball velocity in y-direction of the robot-centered coordinate system
vel_z	the ball velocity in z-direction of the robot-centered coordinate system
covariance	ball velocity covariance

Definition at line 751 of file data_container.cpp.

Referenced by WorldInfoViewerBackendThread::ball_velocity_rcvd().

void fawkes::WorldInfoDataContainer::set_game_state	(	int	game_state,
		worldinfo_gamestate_team_t	state_team,
		unsigned int	score_cyan,
		unsigned int	score_magenta,
		worldinfo_gamestate_team_t	own_team,
		worldinfo_gamestate_goalcolor_t	own_goal_color,
		worldinfo_gamestate_half_t	half
	)

Set the gamestate.

Parameters:

game_state	the current game state
state_team	team association of the game state
score_cyan	score of the cyan-colored team
score_magenta	score of the magenta-colored team
own_team	own team color
own_goal_color	own goal color
half	first or second half

Definition at line 893 of file data_container.cpp.

Referenced by WorldInfoViewerBackendThread::gamestate_rcvd().

void fawkes::WorldInfoDataContainer::set_opponent_pos	(	const char *	host,
		unsigned int	uid,
		float	distance,
		float	angle,
		float *	covariance
	)

Set the position of a detected opponent.

Parameters:

host	hostname of the robot that detected the robot
uid	opponent id
distance	distance to the robot
angle	angle at which the opponent is detected
covariance	corresponding covariance matrix

Definition at line 802 of file data_container.cpp.

Referenced by WorldInfoViewerBackendThread::opponent_pose_rcvd().

void fawkes::WorldInfoDataContainer::set_robot_pose	(	const char *	host,
		float	x,
		float	y,
		float	theta,
		float *	covariance
	)

Set the pose of a robot.

Parameters:

host	the hostname of the robot
x	the x-coordinate of the robot's global position
y	the y-coordinate of the robot's global position
theta	the global orientation of the robot
covariance	covariance associated with the position estimation

Definition at line 430 of file data_container.cpp.

Referenced by WorldInfoViewerBackendThread::pose_rcvd().

void fawkes::WorldInfoDataContainer::set_robot_velocity	(	const char *	host,
		float	vel_x,
		float	vel_y,
		float	vel_theta,
		float *	covariance
	)

Set the velocity of the robot.

Parameters:

host	the hostname of the robot
vel_x	the current forward velocity of the robot
vel_y	the current sideward velocity of the robot
vel_theta	the current rotational velociy of the robot
covariance	the velocity covariance

Definition at line 522 of file data_container.cpp.

Referenced by WorldInfoViewerBackendThread::velocity_rcvd().

void fawkes::WorldInfoDataContainer::set_timeout ( long msec )

Set the time out.

Parameters:

msec	time out value in milliseconds

Definition at line 339 of file data_container.cpp.

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

src/libs/worldinfo_utils/data_container.h
src/libs/worldinfo_utils/data_container.cpp

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation