package pathfinding

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static obstacles

Used in: Obstacle

• optional Vector center = 1

Used in: Obstacle

• repeated TrajectoryPoint robot_trajectory = 1

Used in: PathFindingTask

• None = 0

• AllSamplers = 1

• StandardSampler = 2

• EndInObstacleSampler = 3

• EscapeObstacleSampler = 4

Used in: Obstacle

• optional Vector start = 1

• optional Vector end = 2

moving obstacles

Used in: Obstacle

• optional Vector start_pos = 1

• optional Vector speed = 2

• optional Vector acc = 3

• optional float start_time = 4

• optional float end_time = 5

Used in: Obstacle

• optional Vector start_pos1 = 1

• optional Vector speed1 = 2

• optional Vector acc1 = 3

• optional Vector start_pos2 = 4

• optional Vector speed2 = 5

• optional Vector acc2 = 6

• optional float start_time = 7

• optional float end_time = 8

Used in: WorldState

• optional string name = 1

• optional int32 prio = 2

• optional float radius = 3

• oneof obstacle

  • CircleObstacle circle = 4

  • RectObstacle rectangle = 5

  • TriangleObstacle triangle = 6

  • LineObstacle line = 7

  • MovingCircleObstacle moving_circle = 9

    reserved: 8

  • MovingLineObstacle moving_line = 10

  • FriendlyRobotObstacle friendly_robot = 11

  • OpponentRobotObstacle opponent_robot = 12

Used in: Obstacle

• optional Vector start_pos = 1

• optional Vector speed = 2

• optional WorldState state = 1

• optional TrajectoryInput input = 2

• optional InputSourceType type = 3

Used in: Obstacle, WorldState

• optional Vector bottom_left = 1

• optional Vector top_right = 2

these messages are for defining the pre-computed values to use during run-time

Used in: StandardSamplerPrecomputationSegment

• optional float time = 1

• optional float angle = 2

• optional float mid_speed_x = 3

• optional float mid_speed_y = 4

• repeated StandardSamplerPrecomputationSegment segments = 1

Used in: StandardSamplerPrecomputation

• repeated StandardSamplerPoint precomputed_points = 1

• optional float min_distance = 2

• optional float max_distance = 3

Used in: PathFindingTask

• optional Vector v0 = 1

• optional Vector v1 = 2

• optional Vector s0 = 4

• optional Vector s1 = 5

• optional float max_speed = 6

• optional float acceleration = 7

Used in: FriendlyRobotObstacle

• optional Vector pos = 1

• optional Vector speed = 2

• optional float time = 3

Used in: Obstacle

• optional Vector p1 = 1

• optional Vector p2 = 2

• optional Vector p3 = 3

Used in: CircleObstacle, LineObstacle, MovingCircleObstacle, MovingLineObstacle, OpponentRobotObstacle, RectObstacle, TrajectoryInput, TrajectoryPoint, TriangleObstacle

• optional float x = 1

• optional float y = 2

Used in: PathFindingTask

• repeated Obstacle obstacles = 1

• optional uint32 out_of_field_priority = 2

• optional RectObstacle boundary = 3

• optional float radius = 4

• optional uint32 robot_id = 5