Fawkes API  Fawkes Development Version
fawkes::ObjectPositionInterface::ObjectPositionInterface_data_t Struct Reference

Internal data storage, do NOT modify! More...

List of all members.

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.

Detailed Description

Internal data storage, do NOT modify!


Member Data Documentation

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.

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.

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.

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.

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.


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