World Class Reference

#include <world.h>

Public Member Functions
	World (const Field &field, const Ball &ball, const Team &friendly_team, const Team &enemy_team, unsigned int buffer_size=20)
	World (const TbotsProto::World &world_proto)
void	updateBall (const Ball &new_ball)
void	updateFriendlyTeamState (const Team &new_friendly_team_data)
void	updateEnemyTeamState (const Team &new_enemy_team_data)
void	updateRefereeCommand (const RefereeCommand &command)
void	updateRefereeCommand (const RefereeCommand &command, Point ball_placement_point)
void	updateRefereeStage (const RefereeStage &stage)
const Field &	field () const
const Ball &	ball () const
const Team &	friendlyTeam () const
const Team &	enemyTeam () const
const GameState &	gameState () const
void	updateGameState (const GameState &game_state)
void	updateGameStateBall (const Ball &ball)
const RefereeStage &	getRefereeStage () const
const Timestamp	getMostRecentTimestamp () const
void	updateTimestamp (Timestamp timestamp)
void	setTeamWithPossession (TeamPossession possession)
TeamPossession	getTeamWithPossession () const
bool	operator== (const World &other) const
bool	operator!= (const World &other) const
void	setDribbleDisplacement (const std::optional< Segment > &displacement)
const std::optional< Segment > &	getDribbleDisplacement () const

Static Public Attributes
static constexpr unsigned int	REFEREE_COMMAND_BUFFER_SIZE = 3

Detailed Description

The world object describes the entire state of the world, which for us is all the information we have about the field, robots, and ball. The world object acts as a convenient way to pass all this information around to modules that may need it.

WARNING: This class should never hold any data that is pointed to anywhere else. This means no raw pointers, no shared pointers, no shared references. This is because in some cases we copy World's over multiple threads where having a shared member between multiple instances of a World on multiple threads could result in data corruption that would lead to absurdly hard to track bugs. YOU HAVE BEEN WARNED.

Constructor & Destructor Documentation

World() [1/2]

World ( const Field &  field, const Ball &  ball, const Team &  friendly_team, const Team &  enemy_team, unsigned int  buffer_size = 20  )

explicit

Creates a new world.

Parameters

field	the field for the world
ball	the ball for the world
friendly_team	the friendly team for the world
enemy_team	the enemy_team for the world

World() [2/2]

World ( const TbotsProto::World &  world_proto )

explicit

Creates a new world based on the TbotsProto::World protobuf representation.

Parameters

world_proto

The TbotsProto::World protobuf which this world should be based on

Member Function Documentation

ball()

const Ball & ball

(

)

const

Returns a const reference to the Ball in the world

Returns

a const reference to the Ball in the world

enemyTeam()

const Team & enemyTeam

(

)

const

Returns a const reference to the Enemy Team in the world

Returns

a const reference to the Enemy Team in the world

field()

const Field & field

(

)

const

Returns a const reference to the Field in the world

Returns

a const reference to the Field in the world

friendlyTeam()

const Team & friendlyTeam

(

)

const

Returns a const reference to the Friendly Team in the world

Returns

a const reference to the Friendly Team in the world

gameState()

const GameState & gameState

(

)

const

Returns a const reference to the Game State

Returns

a const reference to the Game State

getDribbleDisplacement()

const std::optional< Segment > & getDribbleDisplacement

(

)

const

Gets a segment representing the displacement of the ball (in metres) due to the friendly team continuously dribbling the ball across the field.

• The start point of the segment is the point on the field where the friendly team started dribbling the ball.
• The end point of the segment is the current position of the ball.
• The length of the segment is the distance between where the friendly team started dribbling the ball and where the ball is now.

If the friendly team does not have possession over the ball, std::nullopt is returned.

Returns

A segment representing the displacement of the ball (in metres) due to the friendly team continuously dribbling the ball

getMostRecentTimestamp()

const Timestamp getMostRecentTimestamp

(

)

const

Returns the most recent timestamp value of all timestamped member objects of the world

Returns

the most recent timestamp value of all timestamped member objects of the world

getRefereeStage()

const RefereeStage & getRefereeStage

(

)

const

Returns the current referee stage

Returns

the current referee stage

getTeamWithPossession()

TeamPossession getTeamWithPossession

(

)

const

Gets the team with possession

Returns

The team with possession

operator!=()

bool operator!=

(

const World &

other

)

const

Defines the inequality operator for a World.

Parameters

other

The world to compare against for inequality

Returns

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

operator==()

bool operator==

(

const World &

other

)

const

Defines the equality operator for a World. Worlds are equal if their field, ball friendly_team, enemy_team and game_state are equal. The last update timestamp and histories are not part of the equality.

Parameters

other

The world to compare against for equality

Returns

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

setDribbleDisplacement()

void setDribbleDisplacement

(

const std::optional< Segment > &

displacement

)

Sets the segment representing the displacement of the ball (in metres) due to the friendly team continuously dribbling the ball across the field.

See also

getDribbleDisplacement for details

Parameters

distance

the displacement of the ball

setTeamWithPossession()

void setTeamWithPossession

(

TeamPossession

possession

)

Sets the team with possession

Parameters

possession

The team with possession

updateBall()

void updateBall

(

const Ball &

new_ball

)

Updates the state of the ball in the world with the new ball data

Parameters

new_ball

A Ball containing new ball information

updateEnemyTeamState()

void updateEnemyTeamState

(

const Team &

new_enemy_team_data

)

Updates the state of the enemy team in the world with the new team data

Parameters

new_enemy_team_msg

The message containing new enemy team information

updateFriendlyTeamState()

void updateFriendlyTeamState

(

const Team &

new_friendly_team_data

)

Updates the state of the friendly team in the world with the new team data

Parameters

new_friendly_team_msg

The message containing new friendly team information

updateGameState()

void updateGameState

(

const GameState &

game_state

)

Updates the current Game State

Parameters

game_state

the game state to update with

updateGameStateBall()

void updateGameStateBall

(

const Ball &

ball

)

Updates the ball inside of game state

Parameters

ball	the ball to update with

updateRefereeCommand() [1/2]

void updateRefereeCommand

(

const RefereeCommand &

command

)

Updates the referee command

Parameters

command

the command sent by the referee

updateRefereeCommand() [2/2]

void updateRefereeCommand	(	const RefereeCommand &	command,
		Point	ball_placement_point
	)

Updates the referee command

Parameters

command	the command sent by the referee
ball_placement_point	ball placement point

updateRefereeStage()

void updateRefereeStage

(

const RefereeStage &

stage

)

Updates the referee stage

Parameters

stage

the stage sent by the referee

updateTimestamp()

void updateTimestamp

(

Timestamp

timestamp

)

Updates the last update timestamp

Parameters

timestamp

The last time this World was updated

Exceptions

std::invalid_argument

if timestamp is older than the current last update timestamp

---

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

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