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 RobotModelProvider::update(RobotModel& robotModel)
{
robotModel.setJointData(theFilteredJointData, theRobotDimensions, theMassCalibration);
DECLARE_DEBUG_DRAWING3D("module:RobotModelProvider:massOffsets", "robot",
{
for(int i = 0; i < MassCalibration::numOfLimbs; ++i)
{
const Vector3<>& v(robotModel.limbs[i] * theMassCalibration.masses[i].offset);
SPHERE3D("module:RobotModelProvider:massOffsets", v.x, v.y, v.z, 3, ColorRGBA(0, 200, 0));
}
});
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));
}