Ball Class Reference

Public Member Functions
	Ball (const Point &position, const Vector &velocity, const Timestamp &timestamp, const Vector &acceleration=Vector(0, 0))
	Ball (const BallState &initial_state, const Timestamp &timestamp, const Vector &acceleration=Vector(0, 0))
	Ball (const TbotsProto::Ball &ball_proto)
BallState	currentState () const
void	updateState (const BallState &new_state, const Timestamp &new_timestamp, const Vector &new_acceleration=Vector(0, 0))
Timestamp	timestamp () const
Point	position () const
Vector	velocity () const
Vector	acceleration () const
BallState	estimateFutureState (const Duration &duration_in_future) const
bool	hasBallBeenKicked (const Angle &expected_kick_direction, double min_kick_speed=0.5, const Angle &max_angle_difference=Angle::fromDegrees(20)) const
bool	operator== (const Ball &other) const
bool	operator!= (const Ball &other) const

Constructor & Destructor Documentation

Ball() [1/3]

Ball ( const Point &  position, const Vector &  velocity, const Timestamp &  timestamp, const Vector &  acceleration = Vector(0, 0)  )

explicit

Creates a new ball with the given initial state

Parameters

position	The position of the ball, with coordinates in metres
velocity	The velocity of the ball, in metres per second
timestamp	The timestamp at which the ball was observed to be at the given position and velocity
acceleration	acceleration being applied to the ball

Ball() [2/3]

Ball ( const BallState &  initial_state, const Timestamp &  timestamp, const Vector &  acceleration = Vector(0, 0)  )

explicit

Creates a new ball with the given initial state

Parameters

initial_state	The initial state of the ball
timestamp	the initial timestamp
acceleration	acceleration being applied to the ball

Ball() [3/3]

Ball ( const TbotsProto::Ball &  ball_proto )

explicit

Creates a new ball based on the TbotsProto::Ball protobuf representation

Parameters

ball_proto

The TbotsProto::Ball protobuf which this ball should be based on

Member Function Documentation

acceleration()

Vector acceleration

(

)

const

Returns the current acceleration of the ball

Returns

the current acceleration of the ball

currentState()

BallState currentState

(

)

const

Returns the current state of the ball

Returns

BallState

estimateFutureState()

BallState estimateFutureState

(

const Duration &

duration_in_future

)

const

Returns the estimated state of the ball at the specified amount of time in the future

Parameters

duration_in_future

The Duration into the future at which to predict the ball's position

Returns

The future state of the ball

hasBallBeenKicked()

bool hasBallBeenKicked	(	const Angle &	expected_kick_direction,
		double	min_kick_speed = 0.5,
		const Angle &	max_angle_difference = Angle::fromDegrees(20)
	)		const

Software approximation that finds if a ball has been kicked, regardless of whether the kick was a pass, shot, or chip.

Parameters

expected_kick_direction	The direction that we expect the ball to be kicked towards
min_kick_speed	The minimum speed of the ball to be considered a kick, in metres per second
max_angle_difference	The maximum angle difference for determining if ball has been kicked in the approximate direction as expected

Returns

True if ball was kicked in the approximate direction we expect, false otherwise

operator!=()

bool operator!=

(

const Ball &

other

)

const

Defines the inequality operator for a Ball.

Parameters

other

The ball to compare against for inequality

Returns

True if the other ball is not equal to this ball, and false otherwise

operator==()

bool operator==

(

const Ball &

other

)

const

Defines the equality operator for a Ball. Balls are equal if their positions and velocities are the same

Parameters

other

The Ball to compare against for equality

Returns

True if the other ball is equal to this ball, and false otherwise

position()

Point position

(

)

const

Returns the current position of the ball

Returns

the current position of the ball

timestamp()

Timestamp timestamp

(

)

const

Returns the current timestamp for this ball

Returns

the current timestamp

updateState()

void updateState	(	const BallState &	new_state,
		const Timestamp &	new_timestamp,
		const Vector &	new_acceleration = Vector(0, 0)
	)

Updates the ball with new data

Parameters

new_state	the new state of the ball
new_timestamp	the new timestamp
new_acceleration	acceleration being applied to the ball

velocity()

Vector velocity

(

)

const

Returns the current velocity of the ball

Returns

the current velocity of the ball

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

• src/software/world/ball.h
• src/software/world/ball.cpp