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 }