Robot Class Reference

#include <robot.h>

Classes
struct	cmpRobotByID

Public Member Functions
	Robot (RobotId id, const Point &position, const Vector &velocity, const Angle &orientation, const AngularVelocity &angular_velocity, const Timestamp &timestamp, const std::set< RobotCapability > &unavailable_capabilities=std::set< RobotCapability >(), const RobotConstants_t &robot_constants=DEFAULT_ROBOT_CONSTANTS)
	Robot (RobotId id, const RobotState &initial_state, const Timestamp &timestamp, const std::set< RobotCapability > &unavailable_capabilities=std::set< RobotCapability >(), const RobotConstants_t &robot_constants=DEFAULT_ROBOT_CONSTANTS)
	Robot (const TbotsProto::Robot &robot_proto)
void	updateState (const RobotState &state, const Timestamp &timestamp)
RobotState	currentState () const
Timestamp	timestamp () const
RobotId	id () const
Point	position () const
Vector	velocity () const
Angle	orientation () const
AngularVelocity	angularVelocity () const
const std::set< RobotCapability > &	getUnavailableCapabilities () const
Polygon	dribblerArea () const
std::set< RobotCapability >	getAvailableCapabilities () const
std::set< RobotCapability > &	getMutableRobotCapabilities ()
const RobotConstants_t &	robotConstants () const
bool	isNearDribbler (const Point &test_point, double TOLERANCE=BALL_TO_FRONT_OF_ROBOT_DISTANCE_WHEN_DRIBBLING) const
Duration	getTimeToOrientation (const Angle &desired_orientation, const AngularVelocity &final_angular_velocity=AngularVelocity::zero()) const
Duration	getTimeToPosition (const Point &destination, const Vector &final_velocity=Vector()) const
bool	operator== (const Robot &other) const
bool	operator!= (const Robot &other) const

Detailed Description

Defines an SSL robot

Constructor & Destructor Documentation

Robot() [1/3]

Robot ( RobotId  id, const Point &  position, const Vector &  velocity, const Angle &  orientation, const AngularVelocity &  angular_velocity, const Timestamp &  timestamp, const std::set< RobotCapability > &  unavailable_capabilities = std::set<RobotCapability>(), const RobotConstants_t &  robot_constants = DEFAULT_ROBOT_CONSTANTS  )

explicit

Creates a new robot given robot data

Parameters

id	The id of the robot to create
position	the new position of the robot. Coordinates are in metres.
velocity	the new velocity of the robot, in metres / second.
orientation	the new orientation of the robot, in Radians.
angular_velocity	the new angular velocity of the robot, in Radians per second
timestamp	The timestamp at which the robot was observed to be in the given state
unavailable_capabilities	The set of unavailable capabilities for this robot
robot_constants	The robot constants for this robot

Robot() [2/3]

Robot ( RobotId  id, const RobotState &  initial_state, const Timestamp &  timestamp, const std::set< RobotCapability > &  unavailable_capabilities = std::set<RobotCapability>(), const RobotConstants_t &  robot_constants = DEFAULT_ROBOT_CONSTANTS  )

explicit

Creates a new robot with the given initial state

Parameters

id	The id of the robot to create
initial_state	The initial state of the robot
timestamp	The timestamp at which the robot was observed to be in the given state
unavailable_capabilities	The set of unavailable capabilities for this robot
robot_constants	The robot constants for this robot

Robot() [3/3]

Robot ( const TbotsProto::Robot &  robot_proto )

explicit

Creates a new robot based on the TbotsProto::Robot protobuf representation NOTE: TbotsProto::Robot does not store the robot constants and the original robot constants is lost in the conversion, as a result, the 2021 robot constants are used as default.

Parameters

robot_proto

The TbotsProto::Robot protobuf which this robot should be based on

Member Function Documentation

angularVelocity()

AngularVelocity angularVelocity

(

)

const

Returns the current angular velocity of the robot

Returns

the current angular velocity of the robot

currentState()

RobotState currentState

(

)

const

Gets the current state of the robot

Returns

current state of the robot

dribblerArea()

Polygon dribblerArea

(

)

const

Creates and returns a rectangle representing the dribbler area

Returns

the dribbler area rectangle

getAvailableCapabilities()

std::set< RobotCapability > getAvailableCapabilities

(

)

const

Returns all available capabilities this robot has

Returns

Returns all available capabilities this robot has

getMutableRobotCapabilities()

std::set< RobotCapability > & getMutableRobotCapabilities

(

)

Returns the mutable hardware capabilities of the robot

Returns

the mutable hardware capabilities of the robot

getTimeToOrientation()

Duration getTimeToOrientation	(	const Angle &	desired_orientation,
		const AngularVelocity &	final_angular_velocity = AngularVelocity::zero()
	)		const

Estimate the minimum time it would take to turn to the desired orientation

Parameters

desired_orientation	The orientation which we want the robot to be at
final_angular_velocity	The desired angular velocity which the robot will be moving at, once it reaches the desired orientation

Returns

The time required for this robot to rotate to the given orientation

getTimeToPosition()

Duration getTimeToPosition	(	const Point &	destination,
		const Vector &	final_velocity = Vector()
	)		const

Estimate the minimum time it would take to reach the desired point

Parameters

destination	The destination that the robot is going to
final_velocity	The desired final velocity which the robot should be moving at

Returns

The minimum theoretical time it would take this robot to reach the destination

getUnavailableCapabilities()

const std::set< RobotCapability > & getUnavailableCapabilities

(

)

const

Returns the missing capabilities of the robot

Returns

the missing capabilities of the robot

id()

RobotId id

(

)

const

Returns the id of the robot

Returns

the id of the robot

isNearDribbler()

bool isNearDribbler	(	const Point &	test_point,
		double	TOLERANCE = BALL_TO_FRONT_OF_ROBOT_DISTANCE_WHEN_DRIBBLING
	)		const

Decides if a point is near the dribbler of the robot

Parameters

test_point	The point to check
TOLERANCE	The tolerance for the distance between the dribbler and the ball

Returns

whether the test_point is near the dribbler of the robot

operator!=()

bool operator!=

(

const Robot &

other

)

const

Defines the inequality operator for a Robot.

Parameters

other

The robot to compare against for inequality

Returns

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

operator==()

bool operator==

(

const Robot &

other

)

const

Defines the equality operator for a Robot. Robots are equal if their IDs and all other parameters (position, orientation, etc) are equal. The last update timestamp is not part of the equality.

Parameters

other

The robot to compare against for equality

Returns

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

orientation()

Angle orientation

(

)

const

Returns the current orientation of the robot

Returns

the current orientation of the robot

position()

Point position

(

)

const

Returns the current position of the robot

Returns

the current position of the robot

robotConstants()

const RobotConstants_t & robotConstants

(

)

const

Returns the robot constants for this robot

Returns

the robot constants for this robot

timestamp()

Timestamp timestamp

(

)

const

Returns the current timestamp of this robot

Returns

the current timestamp

updateState()

void updateState	(	const RobotState &	state,
		const Timestamp &	timestamp
	)

Updates the robot with new data

Parameters

robot_state	A robot state containing new robot data
timestamp	New timestamp

velocity()

Vector velocity

(

)

const

Returns the current velocity of the robot

Returns

the current velocity of the robot

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

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