void BallPercept::draw() const
{
DECLARE_DEBUG_DRAWING("representation:BallPercept:Image", "drawingOnImage");
DECLARE_DEBUG_DRAWING("representation:BallPercept:Field", "drawingOnField");
DECLARE_DEBUG_DRAWING3D("representation:BallPercept", "origin");
TRANSLATE3D("representation:BallPercept", 0, 0, -230);
if(ballWasSeen)
{
CIRCLE("representation:BallPercept:Image",
positionInImage.x,
positionInImage.y,
radiusInImage,
1, // pen width
Drawings::ps_solid,
ColorClasses::black,
Drawings::bs_solid,
ColorRGBA(255, 128, 64, 100));
CIRCLE("representation:BallPercept:Field",
relativePositionOnField.x,
relativePositionOnField.y,
35,
0, // pen width
Drawings::ps_solid,
ColorClasses::orange,
Drawings::bs_null,
ColorClasses::orange);
// Sorry, no access to field dimensions here, so ball radius is hard coded
SPHERE3D("representation:BallPercept", relativePositionOnField.x, relativePositionOnField.y, 35, 35, ColorClasses::orange);
}
}
void BallPercept::draw() const
{
DECLARE_DEBUG_DRAWING("representation:BallPercept:image", "drawingOnImage");
DECLARE_DEBUG_DRAWING("representation:BallPercept:field", "drawingOnField");
DECLARE_DEBUG_DRAWING3D("representation:BallPercept", "robot");
TRANSLATE3D("representation:BallPercept", 0, 0, -230);
if(status == seen)
{
CIRCLE("representation:BallPercept:image", positionInImage.x(), positionInImage.y(), radiusInImage, 1, // pen width
Drawings::solidPen, ColorRGBA::black, Drawings::solidBrush, ColorRGBA(255, 128, 64, 100));
CIRCLE("representation:BallPercept:field", positionOnField.x(), positionOnField.y(), radiusOnField, 0, // pen width
Drawings::solidPen, ColorRGBA::orange, Drawings::noBrush, ColorRGBA::orange);
SPHERE3D("representation:BallPercept", positionOnField.x(), positionOnField.y(), radiusOnField, radiusOnField, ColorRGBA::orange);
}
else if(status == guessed)
CIRCLE("representation:BallPercept:image", positionInImage.x(), positionInImage.y(), radiusInImage, 1, // pen width
Drawings::solidPen, ColorRGBA::black, Drawings::solidBrush, ColorRGBA(64, 128, 255, 90));
}
void GoalPercept::draw() const
{
const ColorRGBA goalPerceptColor = ColorRGBA::yellow;
DECLARE_DEBUG_DRAWING("representation:GoalPercept:Image", "drawingOnImage");
DECLARE_DEBUG_DRAWING("representation:GoalPercept:Field", "drawingOnField");
DECLARE_DEBUG_DRAWING3D("representation:GoalPercept", "robot");
TRANSLATE3D("representation:GoalPercept", 0, 0, -230);
ColorRGBA color = ColorRGBA(220, 220, 220);
for(unsigned int i = 0; i < goalPosts.size(); ++i)
{
const GoalPost& p = goalPosts.at(i);
if(p.position != GoalPost::IS_UNKNOWN)
{
CIRCLE("representation:GoalPercept:Field", p.positionOnField.x(), p.positionOnField.y(),
50, 0, Drawings::solidPen, goalPerceptColor, Drawings::solidBrush, color);
LINE("representation:GoalPercept:Field", p.positionOnField.x(), p.positionOnField.y(),
p.positionOnField.x(), p.positionOnField.y() +
(p.position == GoalPost::IS_LEFT ? -700 : 700),
60, Drawings::solidPen, goalPerceptColor);
MID_DOT("representation:GoalPercept:Image", p.positionInImage.x(), p.positionInImage.y(),
goalPerceptColor, color);
LINE("representation:GoalPercept:Image", p.positionInImage.x(), p.positionInImage.y(), p.positionInImage.x(), 0,
5, Drawings::solidPen, goalPerceptColor);
if(p.position == GoalPost::IS_LEFT)
DRAWTEXT("representation:GoalPercept:Image", p.positionInImage.x() + 10, 40, 36, goalPerceptColor, "L");
else if(p.position == GoalPost::IS_RIGHT)
DRAWTEXT("representation:GoalPercept:Image", p.positionInImage.x() - 30, 40, 36, goalPerceptColor, "R");
}
else
{
CIRCLE("representation:GoalPercept:Field", p.positionOnField.x(), p.positionOnField.y(),
50, 0, Drawings::solidPen, ColorRGBA(255, 0, 0), Drawings::solidBrush, goalPerceptColor);
MID_DOT("representation:GoalPercept:Image", p.positionInImage.x(), p.positionInImage.y(),
ColorRGBA(255, 0, 0), goalPerceptColor);
LINE("representation:GoalPercept:Image", p.positionInImage.x(), p.positionInImage.y(), p.positionInImage.x(), 0,
5, Drawings::dottedPen, goalPerceptColor);
}
// Sorry, no access to field dimensions here, so the dimensions are hard coded
CYLINDER3D("representation:GoalPercept", p.positionOnField.x(), p.positionOnField.y(), 400, 0, 0, 0, 50, 800, goalPerceptColor);
LINE3D("representation:GoalPercept", 0, 0, 1.f, p.positionOnField.x(), p.positionOnField.y(), 1.f, 2.f, goalPerceptColor);
}
}
void GoalPercept::draw() const
{
DECLARE_DEBUG_DRAWING("representation:GoalPercept:Image", "drawingOnImage");
DECLARE_DEBUG_DRAWING("representation:GoalPercept:Field", "drawingOnField");
DECLARE_DEBUG_DRAWING3D("representation:GoalPercept", "origin");
TRANSLATE3D("representation:GoalPercept", 0, 0, -230);
ColorRGBA color = ColorClasses::yellow;
for(unsigned int i = 0; i < goalPosts.size(); ++i)
{
const GoalPost& p = goalPosts.at(i);
if(p.position != GoalPost::IS_UNKNOWN)
{
CIRCLE("representation:GoalPercept:Field", p.positionOnField.x, p.positionOnField.y,
50, 0, Drawings::ps_solid, ColorClasses::white, Drawings::bs_solid, color);
LINE("representation:GoalPercept:Field", p.positionOnField.x, p.positionOnField.y,
p.positionOnField.x, p.positionOnField.y +
(p.position == GoalPost::IS_LEFT ? -700 : 700),
60, Drawings::ps_solid, color);
MID_DOT("representation:GoalPercept:Image", p.positionInImage.x, p.positionInImage.y,
ColorClasses::white, color);
LINE("representation:GoalPercept:Image", p.positionInImage.x, p.positionInImage.y, p.positionInImage.x, 0,
5, Drawings::ps_solid, color);
// Sorry, no access to field dimensions here, so the dimensions are hard coded
CYLINDER3D("representation:GoalPercept", p.positionOnField.x, p.positionOnField.y, 400, 0, 0, 0, 50, 800, color);
}
else
{
CIRCLE("representation:GoalPercept:Field", p.positionOnField.x, p.positionOnField.y,
50, 0, Drawings::ps_solid, ColorRGBA(255, 0, 0), Drawings::bs_solid, color);
MID_DOT("representation:GoalPercept:Image", p.positionInImage.x, p.positionInImage.y,
ColorRGBA(255, 0, 0), color);
LINE("representation:GoalPercept:Image", p.positionInImage.x, p.positionInImage.y, p.positionInImage.x, 0,
5, Drawings::ps_dot, color);
// Sorry, no access to field dimensions here, so the dimensions are hard coded
CYLINDER3D("representation:GoalPercept", p.positionOnField.x, p.positionOnField.y, 400, 0, 0, 0, 50, 800, color);
}
}
}
