field_provider.h File Reference

This header defines the dimensions of the field, as well as declares the helper functions to draw out the field in 2D and 3D. More...

#include <Eigen/Core>
#include <opencv/cv.h>
#include <pcl_visualization/pcl_visualizer.h>

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Classes
class	ground_truth::FieldProvider
	Provides locations of key field landmarks and helper functions to draw the field out in 2D and 3D. More...
Namespaces
namespace	ground_truth
Enumerations
enum	ground_truth::GroundPoints {   ground_truth::YELLOW_BASE_TOP = 0, ground_truth::YELLOW_BASE_PENALTY_TOP = 1, ground_truth::YELLOW_GOALPOST_TOP = 2, ground_truth::YELLOW_GOALPOST_BOTTOM = 3,   ground_truth::YELLOW_BASE_PENALTY_BOTTOM = 4, ground_truth::YELLOW_BASE_BOTTOM = 5, ground_truth::YELLOW_PENALTY_TOP = 6, ground_truth::YELLOW_PENALTY_BOTTOM = 7,   ground_truth::YELLOW_PENALTY_CROSS = 8, ground_truth::MID_TOP = 9, ground_truth::MID_CIRCLE_TOP = 10, ground_truth::MID_CIRCLE_BOTTOM = 11,   ground_truth::MID_BOTTOM = 12, ground_truth::BLUE_BASE_TOP = 13, ground_truth::BLUE_BASE_PENALTY_TOP = 14, ground_truth::BLUE_GOALPOST_TOP = 15,   ground_truth::BLUE_GOALPOST_BOTTOM = 16, ground_truth::BLUE_BASE_PENALTY_BOTTOM = 17, ground_truth::BLUE_BASE_BOTTOM = 18, ground_truth::BLUE_PENALTY_TOP = 19,   ground_truth::BLUE_PENALTY_BOTTOM = 20, ground_truth::BLUE_PENALTY_CROSS = 21, ground_truth::NUM_GROUND_PLANE_POINTS = 22 }
enum	ground_truth::HighPoints {   ground_truth::YELLOW_GOALPOST_TOP_HIGH = 0, ground_truth::YELLOW_GOALPOST_BOTTOM_HIGH = 1, ground_truth::BLUE_GOALPOST_TOP_HIGH = 2, ground_truth::BLUE_GOALPOST_BOTTOM_HIGH = 3,   ground_truth::NUM_HIGH_POINTS = 4 }
Variables
const float	ground_truth::CIRCLE_RADIUS = 0.650
	center circle radius
const float	ground_truth::FIELD_X = 5.950
	length of the field
const float	ground_truth::FIELD_Y = 3.950
	width of the field
const float	ground_truth::GOAL_HEIGHT = 0.8
	height of top goal bar
const float	ground_truth::GOAL_Y = 1.5
	distance between goal posts
const float	ground_truth::GRASS_X = 6.725
	length of the grass
const float	ground_truth::GRASS_Y = 4.725
	width of the grass
const float	ground_truth::PENALTY_CROSS_X = 1.200
	distance of penalty cross from field center
const float	ground_truth::PENALTY_X = 0.550
	distance of penalty box along length
const float	ground_truth::PENALTY_Y = 2.150
	distance of penalty box along width

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Detailed Description

This header defines the dimensions of the field, as well as declares the helper functions to draw out the field in 2D and 3D.

Author:

Piyush Khandelwal (piyushk), piyushk@cs.utexas.edu Copyright (C) 2011, The University of Texas at Austin, Piyush Khandelwal

License: Modified BSD License

$ Id: 08/10/2011 11:07:07 AM piyushk $

Definition in file field_provider.h.