#include <field.h>

Public Member Functions
	Field (double field_x_length, double field_y_length, double defense_x_length, double defense_y_length, double goal_x_length, double goal_y_length, double boundary_buffer_size, double center_circle_radius)

	Field (const TbotsProto::Field &field_proto)

double	xLength () const

double	totalXLength () const

double	yLength () const

double	totalYLength () const

double	goalYLength () const

double	goalXLength () const

double	centerCircleRadius () const

Circle	centerCircle () const

Point	centerPoint () const

Segment	halfwayLine () const

double	defenseAreaYLength () const

double	defenseAreaXLength () const

const Rectangle &	friendlyDefenseArea () const

const Rectangle &	enemyDefenseArea () const

Rectangle	friendlyHalf () const

Rectangle	friendlyPositiveYQuadrant () const

Rectangle	friendlyNegativeYQuadrant () const

Rectangle	enemyHalf () const

Rectangle	enemyPositiveYQuadrant () const

Rectangle	enemyNegativeYQuadrant () const

const Rectangle &	fieldLines () const

Rectangle	fieldBoundary () const

Point	friendlyGoalCenter () const

Point	enemyGoalCenter () const

const Rectangle &	friendlyGoal () const

const Rectangle &	enemyGoal () const

Point	friendlyPenaltyMark () const

Point	enemyPenaltyMark () const

Point	friendlyCornerPos () const

Point	friendlyCornerNeg () const

Point	enemyCornerPos () const

Point	enemyCornerNeg () const

Point	friendlyGoalpostPos () const

Point	friendlyGoalpostNeg () const

Point	enemyGoalpostPos () const

Point	enemyGoalpostNeg () const

double	boundaryMargin () const

bool	pointInFriendlyDefenseArea (const Point &p) const

bool	pointInEnemyDefenseArea (const Point &p) const

bool	pointInFriendlyHalf (const Point &p) const

bool	pointInEnemyHalf (const Point &p) const

bool	pointInFriendlyCorner (const Point &p, double radius) const

bool	pointInEnemyCorner (const Point &p, double radius) const

bool	operator== (const Field &other) const

bool	operator!= (const Field &other) const

Static Public Member Functions
static Field	createSSLDivisionBField ()

static Field	createSSLDivisionAField ()

static Field	createField (TbotsProto::FieldType field_type)

Detailed Description

Exposes the dimensions of various parts of the field.

 +-------+-------+-------+
 |       | Enemy |       |
 |       +-------+       |
 |                       |
 |           ^ +x        |
 |           |           |
 |           |           |
 |           |           |
 |  +y       |           |
 |  <--------+ (0,0)     |
 |                       |
 |                       |
 |                       |
 |      +----------+     |
 |      | Friendly |     |
 +------+----------+-----+

Constructor & Destructor Documentation

◆ Field() [1/2]

Field	(	double	field_x_length,
		double	field_y_length,
		double	defense_x_length,
		double	defense_y_length,
		double	goal_x_length,
		double	goal_y_length,
		double	boundary_buffer_size,
		double	center_circle_radius
	)

explicit

Constructs a new field with the given dimensions

Precondition: all dimensions (except for the boundary buffer) must be > 0.; the boundary buffer must be >= 0

Exceptions

invalid_argument if at least one dimension is <= 0

Parameters

field_x_length	the length of the playing area (along the x-axis)
field_y_length	the length of the playing area (along the y-axis)
defense_x_length	the length of the defense area (along the x-axis)
defense_y_length	the length of the defense area (along the y-axis)
goal_x_length	the length of the goal (along the x-axis)
goal_y_length	the length of the goal (along the y-axis)
boundary_buffer_size	the size of the boundary area between the edge of the playing area and the physical border/perimeter of the field
center_circle_radius	the radius of the center circle

◆ Field() [2/2]

Field ( const TbotsProto::Field & field_proto )

explicit

Constructs a new field based on the TbotsProto::Field protobuf representation

Precondition: all dimensions (except for the boundary buffer) must be > 0.; the boundary buffer must be >= 0

Exceptions

invalid_argument if at least one dimension is <= 0

Parameters

field_proto

Member Function Documentation

◆ boundaryMargin()

double boundaryMargin ( ) const

Gets the margin for being out of bounds on the top or bottom of the field in metres.

Returns: the size of the margin/bounds around the field in metres

◆ centerCircle()

Circle centerCircle ( ) const

Returns the center circle at the middle of the field

Returns: the center circle at the middle of the field

◆ centerCircleRadius()

double centerCircleRadius ( ) const

Gets the radius of the centre circle in metres.

Returns: the radius of the centre circle in metres.

◆ centerPoint()

Point centerPoint ( ) const

Returns the center point of the field

Returns: the center point of the field

◆ createField()

Field createField ( TbotsProto::FieldType field_type )

static

Creates a field with the standard SSL Division A or B dimensions

Parameters

field_type The field type

Returns: a field with the standard SSL Division A or B dimensions

◆ createSSLDivisionAField()

Field createSSLDivisionAField ( )

static

Creates a field with the standard SSL Division A dimensions

Returns: a field with the standard SSL Division A dimensions

◆ createSSLDivisionBField()

Field createSSLDivisionBField ( )

static

Creates a field with the standard SSL Division B dimensions

Returns: a field with the standard SSL Division B dimensions

◆ defenseAreaXLength()

double defenseAreaXLength ( ) const

Gets the length of the defense area in metres, which runs along the x-axis. This is how far the defense area extends in front of the goal.

Returns: the width of the straight parts in metres.

◆ defenseAreaYLength()

double defenseAreaYLength ( ) const

Gets the width of the defense area in metres, which runs along the y-axis. This is the total width of how far the defense area stretches from one side of the goal to the other.

Returns: the width of the defense area

◆ enemyCornerNeg()

Point enemyCornerNeg ( ) const

Gets the position of the enemy corner with the negative y-axis

Returns: the position of the enemy corner with the negative y-axis

◆ enemyCornerPos()

Point enemyCornerPos ( ) const

Gets the position of the enemy corner with the positive y-axis

Returns: the position of the enemy corner with the positive y-axis

◆ enemyDefenseArea()

const Rectangle & enemyDefenseArea ( ) const

Gets the enemy defense area as a Rectangle.

Returns: defense area of the enemy team

◆ enemyGoal()

const Rectangle & enemyGoal ( ) const

Gets the area within the enemy goal.

Returns: the area within the enemy goal.

◆ enemyGoalCenter()

Point enemyGoalCenter ( ) const

Gets the position of the centre of the enemy goal.

Returns: the position of the enemy goal.

◆ enemyGoalpostNeg()

Point enemyGoalpostNeg ( ) const

Gets the position of the enemy goalpost with the negative y-axis

Returns: the position of the enemy goalpost with the negative y-axis

◆ enemyGoalpostPos()

Point enemyGoalpostPos ( ) const

Gets the position of the enemy goalpost with the positive y-axis

Returns: the position of the enemy goalpost with the positive y-axis

◆ enemyHalf()

Rectangle enemyHalf ( ) const

Gets the enemy half of the field within field lines

Returns: the enemy half of the field

◆ enemyNegativeYQuadrant()

Rectangle enemyNegativeYQuadrant ( ) const

Gets the enemy negative Y quadrant of the field

Returns: the enemy negative Y quadrant of the field

◆ enemyPenaltyMark()

Point enemyPenaltyMark ( ) const

Gets the position of the enemy team's penalty mark.

Returns: the position of the penalty mark for the enemy team.

◆ enemyPositiveYQuadrant()

Rectangle enemyPositiveYQuadrant ( ) const

Gets the enemy positive Y quadrant of the field

Returns: the enemy positive Y quadrant of the field

◆ fieldBoundary()

Rectangle fieldBoundary ( ) const

Gets the area within the field boundary (the physical walls surrounding the Field). This is the entire area where the robots and ball can move, and is a superset of the area inside the field lines.

Returns: The area within the field boundary as a rectangle

◆ fieldLines()

const Rectangle & fieldLines ( ) const

Gets the area within the field lines as a rectangle. This is the set of locations where the ball is considered "in play".

Returns: The area within the field lines as a rectangle

◆ friendlyCornerNeg()

Point friendlyCornerNeg ( ) const

Gets the position of our corner with the negative y-axis

Returns: the position of our corner with the negative y-axis

◆ friendlyCornerPos()

Point friendlyCornerPos ( ) const

Gets the position of our corner with the positive y-axis

Returns: the position of our corner with the positive y-axis

◆ friendlyDefenseArea()

const Rectangle & friendlyDefenseArea ( ) const

Gets the friendly defense area as a Rectangle.

Returns: defense area of the friendly team

◆ friendlyGoal()

const Rectangle & friendlyGoal ( ) const

Gets the area within the friendly goal.

Returns: the area within the friendly goal.

◆ friendlyGoalCenter()

Point friendlyGoalCenter ( ) const

Gets the position of the centre of the friendly goal.

Returns: the position of the friendly goal.

◆ friendlyGoalpostNeg()

Point friendlyGoalpostNeg ( ) const

Gets the position of the friendly goalpost with the negative y-axis

Returns: the position of the friendly goalpost with the negative y-axis

◆ friendlyGoalpostPos()

Point friendlyGoalpostPos ( ) const

Gets the position of the friendly goalpost with the positive y-axis

Returns: the position of the friendly goalpost with the positive y-axis

◆ friendlyHalf()

Rectangle friendlyHalf ( ) const

Gets the friendly half of the field within field lines

Returns: the friendly half of the field

◆ friendlyNegativeYQuadrant()

Rectangle friendlyNegativeYQuadrant ( ) const

Gets the friendly negative Y quadrant of the field

Returns: the friendly negative Y quadrant of the field

◆ friendlyPenaltyMark()

Point friendlyPenaltyMark ( ) const

Gets the position of the friendly team's penalty mark.

Returns: the position of the penalty mark for the friendly team.

◆ friendlyPositiveYQuadrant()

Rectangle friendlyPositiveYQuadrant ( ) const

Gets the friendly positive Y quadrant of the field

Returns: the friendly positive Y quadrant of the field

◆ goalXLength()

double goalXLength ( ) const

Gets the "depth" of the goal along the x-axis, in metres.

Returns: the "depth" of the goal along the x-axis, in metres.

◆ goalYLength()

double goalYLength ( ) const

Gets the y-axis length of the goal, symmetric above and below the centreline, from goalpost to goalpost in metres.

Returns: the y-axis length of the goal in metres.

◆ halfwayLine()

Segment halfwayLine ( ) const

Returns the halfway line of the field (as a segment) The segment is on the Y axis and is bounded by the field lines

Returns: the center line of the field

◆ operator!=()

bool operator!= ( const Field & other ) const

Compares two fields for inequality

Parameters

other the field the compare to

Returns: true if the fields do not have the same dimensions, and false otherwise

◆ operator==()

bool operator== ( const Field & other ) const

Compares two fields for equality

Parameters

other the field to compare to

Returns: true if the fields have the same dimensions, and false otherwise

◆ pointInEnemyCorner()

bool pointInEnemyCorner	(	const Point &	p,
		double	radius
	)		const

Returns true if the point is in within the provided radius in one of the enemy corner.

Parameters

point
the	radius from the corner, to decide whether or not the point is in the field.

Returns: true if the point is in within the provided radius in one of the enemy corner.

◆ pointInEnemyDefenseArea()

bool pointInEnemyDefenseArea ( const Point & p ) const

Returns whether p is in the enemy defense area

Returns: true if point p is in enemy defense area

◆ pointInEnemyHalf()

bool pointInEnemyHalf ( const Point & p ) const

Returns true if the point is in the enemy half of the field, and false otherwise

Parameters

point

Returns: true if the point is in the enemy's half of the field, and false otherwise

◆ pointInFriendlyCorner()

bool pointInFriendlyCorner	(	const Point &	p,
		double	radius
	)		const

Returns true if the point is in within the provided radius in one of the friendly corner.

Parameters

point
the	radius from the corner, to decide whether or not the point is in the field.

Returns: true if the point is in within the provided radius in one of the friendly corner.

◆ pointInFriendlyDefenseArea()

bool pointInFriendlyDefenseArea ( const Point & p ) const

Returns whether p is in the friendly defense area

Returns: true if point p is in friendly defense area

◆ pointInFriendlyHalf()

bool pointInFriendlyHalf ( const Point & p ) const

Returns true if the point is in the friendly half of the field, and false otherwise

Parameters

point

Returns: true if the point is in the friendly half of the field, and false otherwise

◆ totalXLength()

double totalXLength ( ) const

Gets the x-axis length of the field including the boundary area in metres.

Returns: the total x-axis length of the field in metres, including the boundary area.

◆ totalYLength()

double totalYLength ( ) const

Gets the y-axis length of the field including the boundary area in metres.

Returns: the total y-axis length of the field in metres, including the boundary area.

◆ xLength()

double xLength ( ) const

Gets the x-axis length of the field from goal-line to goal-line in metres.

Returns: the x-axis length of the field in metres.

◆ yLength()

double yLength ( ) const

Gets the y-axis length of the field from sideline to sideline in metres.

Returns: the y-axis length of the field in metres.

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

src/software/world/field.h
src/software/world/field.cpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Field() [1/2]

◆ Field() [2/2]

Member Function Documentation

◆ boundaryMargin()

◆ centerCircle()

◆ centerCircleRadius()

◆ centerPoint()

◆ createField()

◆ createSSLDivisionAField()

◆ createSSLDivisionBField()

◆ defenseAreaXLength()

◆ defenseAreaYLength()

◆ enemyCornerNeg()

◆ enemyCornerPos()

◆ enemyDefenseArea()

◆ enemyGoal()

◆ enemyGoalCenter()

◆ enemyGoalpostNeg()

◆ enemyGoalpostPos()

◆ enemyHalf()

◆ enemyNegativeYQuadrant()

◆ enemyPenaltyMark()

◆ enemyPositiveYQuadrant()

◆ fieldBoundary()

◆ fieldLines()

◆ friendlyCornerNeg()

◆ friendlyCornerPos()

◆ friendlyDefenseArea()

◆ friendlyGoal()

◆ friendlyGoalCenter()

◆ friendlyGoalpostNeg()

◆ friendlyGoalpostPos()

◆ friendlyHalf()

◆ friendlyNegativeYQuadrant()

◆ friendlyPenaltyMark()

◆ friendlyPositiveYQuadrant()

◆ goalXLength()

◆ goalYLength()

◆ halfwayLine()

◆ operator!=()

◆ operator==()

◆ pointInEnemyCorner()

◆ pointInEnemyDefenseArea()

◆ pointInEnemyHalf()

◆ pointInFriendlyCorner()

◆ pointInFriendlyDefenseArea()

◆ pointInFriendlyHalf()

◆ totalXLength()

◆ totalYLength()

◆ xLength()

◆ yLength()