Unverified Commit 55b13183 authored by Aditya Kamath's avatar Aditya Kamath Committed by GitHub
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/*
* TRC2SimLocal.h
*
*/
#ifndef TRC2SIM_LOCAL_H_
#define TRC2SIM_LOCAL_H_
#include "../../../Global_par/global_par.h"
/* force optimal alignment */
#pragma pack(push)
#pragma pack(1)
struct TRC2SimLocal
{
short ball_xy_xydot[4]; /*ball position and speed in mm and mm/s */
short turtle_xyo[3*MAX_TURTLES]; /*turtle position in mm and mrad*/
char turtle_inout_field[MAX_TURTLES]; /*turtle in or out of field */
short obstacle_xyr[3*MAXNOBJ_LOCAL]; /*obstacle position and radius */
unsigned char vision_range; /* range of vision */
unsigned char worldmodel_range; /* range of vision */
unsigned char ball_noise[MAX_ACTIVE_TURTLES]; /* ball_noise max deviation (mm) */
char bouncing_borders; /* bouncing border flag */
unsigned char obs_noise[TRC_NUMBER_OF_TURTLES]; /* noise on the obstacles */
char obs_offset[TRC_NUMBER_OF_TURTLES]; /* offset on the obstacles */
unsigned char obs_vy[MAXNOBJ_LOCAL]; /* velocity in y of the obstacles */
unsigned char obs_dy[MAXNOBJ_LOCAL]; /* displacement of the obstacles */
unsigned char obs_vx[MAXNOBJ_LOCAL]; /* velocity in y of the obstacles */
unsigned char obs_dx[MAXNOBJ_LOCAL]; /* displacement of the obstacles */
char obs_movement_shape[MAXNOBJ_LOCAL]; /* shape of movement of obstacles */
char autoref_state; /* indicates if AutoRef is activated in the TRC */
char simulator_link_mode; /* current simulator link mode [host, client, none] */
char simulator_link_remote_agent; /* agent number of other dev PC running simulator link */
};
#pragma pack(pop)
#endif /* TRC2SIM_LOCAL_H_ */
/*
* Turtle2Kinect.h
*
* Created on: Feb 9, 2016
* Author: Koen Meessen
*/
#ifndef TURTLE2KINECT_H_
#define TURTLE2KINECT_H_
#include "../../../Global_par/global_par.h"
/* force optimal alignment */
#pragma pack(push)
#pragma pack(1)
struct Turtle2Kinect
{
short current_xyo[3];
short goal_width;
short goal_height;
char refboxTask;
unsigned char shotInProgressCnt; /* Counter indicating how long ago a shot was started by this turtle */
float ball_xyz_ov[MAX_BALLS_TO_KINECT*2]; /* ball position from omnivision */
float ball_confidence_ov[MAX_BALLS_TO_KINECT]; /* ball confidence omnivision */
short ball_found_ov; /* ball found omnivision */
short ov_lob_detected; /* lob detected [-1,0,1,2] */
char collission_counter; /* collission counter */
char dummy[11]; /* Adjust the size of this dummy variable such that the total structsize remains the same to avoid changing rtdb.ini */
};
#pragma pack(pop)
#endif /* TURTLE2KINECT_H_ */
/*
* VisionLocal.h
*
*/
#ifndef VISION_LOCAL_H_
#define VISION_LOCAL_H_
#include "../../../Global_par/global_par.h"
/* force optimal alignment */
#pragma pack(push)
#pragma pack(1)
struct VisionLocal
{
float pose_xyo_omnivision[3]; /* pose omnivision [x,y,phi] */
int pose_omnivision_found; /* confidence pose_vision_found */
float ball_xyz_omnivision[3*MAXBALLS_OV]; /* ball position */
float ball_confidence_omnivision[MAXBALLS_OV]; /* ball confidence */
short ball_found_omnivision; /* ball found */
float obstacles_xyxydotr_for_strategy[5*NAVOIDABLES]; /* obstacles from omnivision */
double delay_times[2]; /* image time, l2g-vision time */
int lob_detected; /* lob detected? [-1,0,1,2] */
unsigned char obstacle_free_angles_to_goal[13]; /* bit array of free angles towards goal */
char dummy[23]; /* unused */
};
#pragma pack(pop)
#endif /* VISION_LOCAL_H_ */
/*
* VisionShared.h
*
*/
#ifndef VISION_SHARED_H_
#define VISION_SHARED_H_
#include "../../../Global_par/global_par.h"
/* force optimal byte alignment */
#pragma pack(push)
#pragma pack(1)
struct VisionShared
{
char linePoseRecogCompass; /* line_pose_recog and compass check */
char cameraStatus; /* omnivision camera status [-128 127]*/
char cpu0Load; /* status CPU 0 [-128 127]*/
char cpu1Load; /* status CPU 1 [-128 127]*/
short obstacles_xy_for_worldmodel[2*MAXNOBJ_LOCAL]; /* obstacles from omnivision (mm) [-32768 32767]*/
char compassReadingWrtBlueGoal; /* compass reading with respect to blue home (360/255 degrees) [-32768 32767]*/
unsigned char obstacle_free_angles_to_goal[4]; /* bit array of free angles towards goal */
unsigned short shuttertime; /* actual shuttertime */
unsigned char heartbeat;
char dummy[5]; /* not used */
};
#pragma pack(pop)
#endif /* VISION_SHARED_H_ */
/*
* WorldmodelShared.h
*
*/
#ifndef WORLDMODEL_SHARED_H_
#define WORLDMODEL_SHARED_H_
#include "../../../Global_par/global_par.h"
/* force optimal byte alignment */
#pragma pack(push)
#pragma pack(1)
struct WorldmodelShared
{
short opponent_xydxdy[4*MAX_OPPONENTS]; /* worldmodel opponents position */
char opponent_label[MAX_OPPONENTS]; /* worldmodel opponents labels [-128 - 127] */
char opponentwithball; /* opponent that has the ball */
};
#pragma pack(pop)
#endif /* WORLDMODEL_SHARED_H_ */
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