bool GoalieURJC::Despeje2Block0_transition_code(void)
{
//BUILDER COMMENT. DO NOT REMOVE. begin Despeje2Block0_transition_code
Pose2D robotpos;
if(_WorldState->getReliability()>0.3)
{
robotpos = _WorldState->getPosition();
HPoint2D ball_position;
if(_BallDetector->ballmodel->elapsedTimeSinceLastObs > ObjectState::LONG_TIME)
{
return true;
}
ObjectState* balls = _BallDetector->getObj();
Vector2<double> pos = balls->getPositionInRelativeCoordinates();
static Vector2<double> posabs = Pose2D::relative2FieldCoord(robotpos, pos.x, pos.y);
if ((posabs.x>-2000.0) || (fabs(posabs.y)>1500.0))
return true;
else
return false;
}else
{
return true;
}
//BUILDER COMMENT. DO NOT REMOVE. end Despeje2Block0_transition_code
}
bool GoalieURJC::Block2Despeje0_transition_code(void)
{
//BUILDER COMMENT. DO NOT REMOVE. begin Block2Despeje0_transition_code
return false;
Pose2D robotpos;
if(_WorldState->getReliability()>0.5)
{
robotpos = _WorldState->getPosition();
HPoint2D ball_position;
if(_BallDetector->ballmodel->elapsedTimeSinceLastObs < ObjectState::LONG_TIME)
{
ObjectState* balls = _BallDetector->getObj();
Vector2<double> pos = balls->getPositionInRelativeCoordinates();
static Vector2<double> posabs = Pose2D::relative2FieldCoord(robotpos, pos.x, pos.y);
if ((posabs.x<-2200.0) && (fabs(posabs.y)<1200.0))
return true;
else
return false;
}else
{
//cerr<<"No veo la pelota"<<endl;
return false;
}
}else
return false;
//BUILDER COMMENT. DO NOT REMOVE. end Block2Despeje0_transition_code
}
