Fawkes API
Fawkes Development Version
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Internal data storage, do NOT modify! More...
Public Attributes | |
int64_t | timestamp_sec |
Interface Unix timestamp, seconds. | |
int64_t | timestamp_usec |
Interface Unix timestamp, micro-seconds. | |
uint32_t | object_type |
Object type, use constants to define. | |
uint32_t | flags |
Bit-wise concatenated fields of FLAG_* constants. | |
bool | visible |
True, if object is visible. | |
bool | valid |
True, if this position is valid. | |
int32_t | visibility_history |
The visibilitiy history indicates the number of consecutive positive or negative sightings. | |
float | roll |
Roll value for the orientation of the object in space. | |
float | pitch |
Pitch value for the orientation of the object in space. | |
float | yaw |
Yaw value for the orientation of the object in space. | |
float | distance |
Distance from the robot to the object on the ground plane. | |
float | bearing |
Angle between the robot's forward direction and the object on the ground plane. | |
float | slope |
Angle between the robot's center position on the ground plane and the middle point of the object (e.g. | |
float | dbs_covariance [9] |
Covariance of Distance/Yaw/Pitch values. | |
float | world_x |
This is the X coordinate in the cartesian right-handed world coordinate system. | |
float | world_y |
This is the Y coordinate in the cartesian right-handed world coordinate system. | |
float | world_z |
This is the Z coordinate in the cartesian right-handed world coordinate system. | |
float | world_xyz_covariance [9] |
Covariance of WorldX/WorldY/WorldZ values. | |
float | relative_x |
This is the X coordinate in the cartesian right-handed robot coordinate system. | |
float | relative_y |
This is the Y coordinate in the cartesian right-handed robot coordinate system. | |
float | relative_z |
This is the Z coordinate in the cartesian right-handed robot coordinate system. | |
float | relative_xyz_covariance [9] |
Covariance of relative x/y/z values. | |
float | extent_x |
Extent of the seen object given in the relative x cartesian coordinate in m. | |
float | extent_y |
Extent of the seen object given in the relative y cartesian coordinate in m. | |
float | extent_z |
Extent of the seen object given in the relative z cartesian coordinate in m. | |
float | world_x_velocity |
Velocity of object in the world coordinate system in X-direction in meter per second. | |
float | world_y_velocity |
Velocity of object in the world coordinate system in Y-direction in meter per second. | |
float | world_z_velocity |
Velocity of object in the world coordinate system in Z-direction in meter per second. | |
float | world_xyz_velocity_covariance [9] |
Covariance of WorldX/WorldY/WorldZ velocity values. | |
float | relative_x_velocity |
Velocity of object in the world coordinate system in X-direction in meter per second. | |
float | relative_y_velocity |
Velocity of object in the world coordinate system in Y-direction in meter per second. | |
float | relative_z_velocity |
Velocity of object in the world coordinate system in Z-direction in meter per second. | |
float | relative_xyz_velocity_covariance [9] |
Covariance of relative x/y/z velocity values. |
Internal data storage, do NOT modify!
Angle between the robot's forward direction and the object on the ground plane.
This angle is in a local 3D coordinate system to the robot and given in radians.
Definition at line 97 of file ObjectPositionInterface.h.
Covariance of Distance/Yaw/Pitch values.
This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
Definition at line 106 of file ObjectPositionInterface.h.
Distance from the robot to the object on the ground plane.
The distance is given in meters.
Definition at line 93 of file ObjectPositionInterface.h.
Extent of the seen object given in the relative x cartesian coordinate in m.
Definition at line 145 of file ObjectPositionInterface.h.
Extent of the seen object given in the relative y cartesian coordinate in m.
Definition at line 148 of file ObjectPositionInterface.h.
Extent of the seen object given in the relative z cartesian coordinate in m.
Definition at line 151 of file ObjectPositionInterface.h.
Bit-wise concatenated fields of FLAG_* constants.
Denotes features that the writer of this interfaces provides. Use a bit-wise OR to concatenate multiple flags, use a bit-wise AND to check if a flag has been set.
Definition at line 70 of file ObjectPositionInterface.h.
Object type, use constants to define.
Definition at line 67 of file ObjectPositionInterface.h.
Pitch value for the orientation of the object in space.
Definition at line 87 of file ObjectPositionInterface.h.
This is the X coordinate in the cartesian right-handed robot coordinate system.
Definition at line 131 of file ObjectPositionInterface.h.
Velocity of object in the world coordinate system in X-direction in meter per second.
Definition at line 168 of file ObjectPositionInterface.h.
Covariance of relative x/y/z values.
This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
Definition at line 140 of file ObjectPositionInterface.h.
float fawkes::ObjectPositionInterface::ObjectPositionInterface_data_t::relative_xyz_velocity_covariance[9] |
Covariance of relative x/y/z velocity values.
This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
Definition at line 177 of file ObjectPositionInterface.h.
This is the Y coordinate in the cartesian right-handed robot coordinate system.
Definition at line 134 of file ObjectPositionInterface.h.
Velocity of object in the world coordinate system in Y-direction in meter per second.
Definition at line 171 of file ObjectPositionInterface.h.
This is the Z coordinate in the cartesian right-handed robot coordinate system.
Definition at line 137 of file ObjectPositionInterface.h.
Velocity of object in the world coordinate system in Z-direction in meter per second.
Definition at line 174 of file ObjectPositionInterface.h.
Roll value for the orientation of the object in space.
Definition at line 84 of file ObjectPositionInterface.h.
Angle between the robot's center position on the ground plane and the middle point of the object (e.g.
this denotes the height of the object combined with the distance. The angle is given in radians.
Definition at line 101 of file ObjectPositionInterface.h.
Interface Unix timestamp, seconds.
Definition at line 65 of file ObjectPositionInterface.h.
Interface Unix timestamp, micro-seconds.
Definition at line 66 of file ObjectPositionInterface.h.
True, if this position is valid.
Definition at line 76 of file ObjectPositionInterface.h.
The visibilitiy history indicates the number of consecutive positive or negative sightings.
If the history is negative, there have been as many negative sightings (object not visible) as the absolute value of the history. A positive value denotes as many positive sightings. 0 shall only be used during the initialisation of the interface or if the visibility history is not filled.
Definition at line 77 of file ObjectPositionInterface.h.
True, if object is visible.
Definition at line 75 of file ObjectPositionInterface.h.
This is the X coordinate in the cartesian right-handed world coordinate system.
This coordinate system has its origin in the center of the field, Y pointing to the opponent's goal and X pointing to the right.
Definition at line 111 of file ObjectPositionInterface.h.
Velocity of object in the world coordinate system in X-direction in meter per second.
Definition at line 154 of file ObjectPositionInterface.h.
Covariance of WorldX/WorldY/WorldZ values.
This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
Definition at line 126 of file ObjectPositionInterface.h.
float fawkes::ObjectPositionInterface::ObjectPositionInterface_data_t::world_xyz_velocity_covariance[9] |
Covariance of WorldX/WorldY/WorldZ velocity values.
This is a 3x3 matrix ordered line by line, first three values represent row, next tree values second row and last three values last row from left to right each.
Definition at line 163 of file ObjectPositionInterface.h.
This is the Y coordinate in the cartesian right-handed world coordinate system.
This coordinate system has its origin in the center of the field, Y pointing to the opponent's goal and X pointing to the right and Z pointing downwards.
Definition at line 116 of file ObjectPositionInterface.h.
Velocity of object in the world coordinate system in Y-direction in meter per second.
Definition at line 157 of file ObjectPositionInterface.h.
This is the Z coordinate in the cartesian right-handed world coordinate system.
This coordinate system has its origin in the center of the field, Y pointing to the opponent's goal and X pointing to the right.
Definition at line 121 of file ObjectPositionInterface.h.
Velocity of object in the world coordinate system in Z-direction in meter per second.
Definition at line 160 of file ObjectPositionInterface.h.
Yaw value for the orientation of the object in space.
Definition at line 90 of file ObjectPositionInterface.h.