PossessionTracker Class Reference

#include <possession_tracker.h>

Public Member Functions
	PossessionTracker (const TbotsProto::PossessionTrackerConfig &config)
TeamPossession	getTeamWithPossession (const Team &friendly_team, const Team &enemy_team, const Ball &ball, const Field &field)

Detailed Description

Class to keep track of the state of the game over time and determine which team has possession of the ball. The logic for determining possession state is based on that used by TIGERs Mannheim, who borrow from CMDragons' 2015 TDP.

CMDragons 2015 TDP http://www.cs.cmu.edu/~jmendoza/papers/cmdragons_robocup15.pdf

Member Function Documentation

getTeamWithPossession()

TeamPossession getTeamWithPossession	(	const Team &	friendly_team,
		const Team &	enemy_team,
		const Ball &	ball,
		const Field &	field
	)

Returns a TeamPossession value indicating which team has possession of the ball.

Parameters

friendly_team	the friendly team
enemy_team	the enemy team
ball	the ball
field	the field being played on

Returns

a TeamPossession value indicating which team has possession of the ball

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

• src/software/sensor_fusion/possession/possession_tracker.h
• src/software/sensor_fusion/possession/possession_tracker.cpp