void SSLField::loadFieldGeometryFromNetwork(const SSL_GeometryFieldSize &fieldSize)
{
line_width = fieldSize.line_width();
field_length = fieldSize.field_length();
field_width = fieldSize.field_width();
boundary_width = fieldSize.boundary_width();
referee_width = fieldSize.referee_width();
goal_width = fieldSize.goal_width();
goal_depth = fieldSize.goal_depth();
goal_wall_width = fieldSize.goal_wall_width();
center_circle_radius = fieldSize.center_circle_radius();
defense_radius = fieldSize.defense_radius();
defense_stretch = fieldSize.defense_stretch();
free_kick_from_defense_dist = fieldSize.free_kick_from_defense_dist();
penalty_spot_from_field_line_dist = fieldSize.penalty_spot_from_field_line_dist();
penalty_line_from_spot_dist = fieldSize.penalty_line_from_spot_dist();
}
void SoccerView::LoadFieldGeometry ( SSL_GeometryFieldSize &fieldSize )
{
this->line_width = fieldSize.line_width();
this->field_length = fieldSize.field_length();
this->field_width = fieldSize.field_width();
this->boundary_width = fieldSize.boundary_width();
this->referee_width = fieldSize.referee_width();
this->goal_width = fieldSize.goal_width();
this->goal_depth = fieldSize.goal_depth();
this->goal_wall_width = fieldSize.goal_wall_width();
this->center_circle_radius = fieldSize.center_circle_radius();
this->defense_radius = fieldSize.defense_radius();
this->defense_stretch = fieldSize.defense_stretch();
this->free_kick_from_defense_dist = fieldSize.free_kick_from_defense_dist();
this->penalty_spot_from_field_line_dist = fieldSize.penalty_spot_from_field_line_dist();
this->penalty_line_from_spot_dist = fieldSize.penalty_line_from_spot_dist();
scene->removeItem ( fieldItem );
ConstructField();
fieldItem = scene->addPath ( *field,*fieldLinePen,*fieldBrush );
}
void PluginLegacyPublishGeometry::sendGeometry() {
// NOTE: The field dimensions are derived from one half irrespective of
// the exact field half / end in question.
SSL_GeometryFieldSize field;
_field.toProtoBuffer(field);
// Geometry data for double-sized field in old format.
RoboCup2014Legacy::Geometry::SSL_GeometryData ds_geodata_old;
// Field data for double-sized field in old format.
RoboCup2014Legacy::Geometry::SSL_GeometryFieldSize ds_field_old;
ds_field_old.set_field_length(field.field_length());
ds_field_old.set_field_width(field.field_width());
ds_field_old.set_goal_width(field.goal_width());
ds_field_old.set_goal_depth(field.goal_depth());
ds_field_old.set_boundary_width(field.boundary_width());
ds_field_old.set_center_circle_radius(
GetFieldCircularArcRadius("CenterCircle"));
ds_field_old.set_defense_radius(
GetFieldCircularArcRadius("LeftFieldLeftPenaltyArc"));
ds_field_old.set_defense_stretch(GetFieldLineLength("LeftPenaltyStretch"));
// The following fields no longer exist in ssl-vision, and are hard-coded
// from the ssl-vision SVN trunk, r233.
ds_field_old.set_line_width(10);
ds_field_old.set_referee_width(425);
ds_field_old.set_goal_wall_width(20);
ds_field_old.set_free_kick_from_defense_dist(200);
ds_field_old.set_penalty_spot_from_field_line_dist(750);
ds_field_old.set_penalty_line_from_spot_dist(400);
*ds_geodata_old.mutable_field() = ds_field_old;
// Copy over the camera calibrations.
for (unsigned int i = 0; i < params.size(); i++) {
SSL_GeometryCameraCalibration* ds_calib_old = ds_geodata_old.add_calib();
params[i]->toProtoBuffer(*ds_calib_old,i);
}
_ds_udp_server_old->sendLegacyMessage(ds_geodata_old);
}
