void GraphicalRobotElement::setCurrentWIM (WorldInfo nwim) {
currentWIM.Clear();
if (teamColor == 1) {
currentWIM = nwim;
} else {
WorldInfo MyWorld;
MyWorld.Clear();
MyWorld.CopyFrom (nwim);
float value = (-1) * MyWorld.myposition().x();
MyWorld.mutable_myposition()->set_x (value);
value = (-1) * MyWorld.myposition().y();
MyWorld.mutable_myposition()->set_y (value);
value = MyWorld.myposition().phi() + Pi;
MyWorld.mutable_myposition()->set_phi (value);
currentWIM = MyWorld;
}
if (LWSTraceVisible) {
setLWSTraceVisible (false);
updateTraceRect();
setLWSTraceVisible (true);
} else {
setLWSTraceVisible (false);
updateTraceRect();
setLWSTraceVisible (false);
}
}
QRectF KFieldScene::visionBallRect (BallObject bob, WorldInfo wim) {
float xmiddle = (wim.myposition().x() + bob.dist() * cos ( (wim.myposition().phi() + bob.bearing() ) ) ) * 1000;
float ymiddle = (wim.myposition().y() + bob.dist() * sin ( (wim.myposition().phi() + bob.bearing() ) ) ) * 1000;
return rectFromFC ( xmiddle, ymiddle, 75, 75);
}