worldobject.h

该文件是包含了机器人足球比赛中的整个系统的代码

#ifndef _WORLDOBJECT_H
#define _WORLDOBJECT_H

class WorldObject
{
public:
  enum WorldObjectType {
    WM_OT_INVALID = 0,
    WM_OT_BALL_IND = 1, //Individual Ball
    WM_OT_BALL_COOP = 2, //Cooperative Ball
    WM_OT_SELF = 3,
    WM_OT_ROBOT_RED = 4,
    WM_OT_ROBOT_BLUE = 5,
    WM_GOAL_Y = 6,
    WM_GOAL_B = 7,
    WM_BEACON_YP = 8,
    WM_BEACON_GP = 9,
    WM_BEACON_BP = 10,
    WM_BEACON_PY = 11,
    WM_BEACON_PG = 12,
    WM_BEACON_PB = 13
  };

	WorldObject();
	
	//Note: Thoughout LOCWM positive y is defined as looking at the blue goal
	//Heading = 0 radians when facing blue goal

	//This is converted to positive y defined as looking at the attacking goal at the end of
	//LOCWM before it is sent to BVR and this is the convention that BVR uses.

  WorldObjectType object_;
  double x_;			//x co-ordinate (cm)
  double y_;			//y co-ordinate (cm)
  double heading_; 	//orientation (radians -PI to PI)
  double uncertX_;		//Estimated variance of x co-ord estimate
  double uncertY_;		//Estimated variance of y co-ord estimate
  double uncertHeading_;//Estimated variance of heading estimate
  bool objSeenThisFrame_;//Has object been seen this frame
};

#endif //_WORLDOBJECT_H