package world

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Used in: State

• required float p_x = 1

• required float p_y = 2

• optional float p_z = 6

• required float v_x = 3

• required float v_y = 4

• optional float v_z = 7

• optional float touchdown_x = 8

• optional float touchdown_y = 9

• optional bool is_bouncing = 10

• optional float max_speed = 11

• repeated BallPosition raw = 5

Used in: amun.CommandTracking, Geometry

• optional float fast_deceleration = 1

  rolling friction

• optional float slow_deceleration = 2

• optional float switch_ratio = 3

• optional float z_damping = 4

  bounce friction

• optional float xy_damping = 5

Used in: Ball

• required int64 time = 1

• required float p_x = 2

• required float p_y = 3

• optional float derived_z = 10

• optional float v_x = 5

• optional float v_y = 6

• optional float system_delay = 7

• optional float time_diff_scaled = 8

  scaled by factor 100

• optional uint32 camera_id = 9

• optional float area = 11

• optional int64 vision_processing_time = 12

  Time [ns] the vision needed to process this frame from receiving to sending

• required float field_width_a = 1

• required float field_height_a = 2

• required float field_width_b = 3

• required float field_height_b = 4

Used in: amun.CommandTracking, amun.SimulatorSetup, amun.Status

• required float line_width = 1

• required float field_width = 2

• required float field_height = 3

• required float boundary_width = 4

• required float goal_width = 6

  deprecated = 5

• required float goal_depth = 7

• required float goal_wall_width = 8

• required float center_circle_radius = 9

• required float defense_radius = 10

• required float defense_stretch = 11

• required float free_kick_from_defense_dist = 12

• required float penalty_spot_from_field_line_dist = 13

• required float penalty_line_from_spot_dist = 14

• required float goal_height = 15

• optional float defense_width = 16

• optional float defense_height = 17

• optional Geometry.GeometryType type = 18

• optional Geometry.Division division = 19

• optional BallModel ball_model = 20

• optional float corner_block_cathetus_length = 21

• optional float boundary_width_goal_line = 22

• optional float goal_substitution_area_width = 23

  Width of the goal substitution area (distance from goal line center plus boundary width to boundary walls) in m

Used in: amun.CommandReferee, Geometry

• A = 1

• B = 2

Used in: Geometry

• TYPE_2014 = 1

• TYPE_2018 = 2

Used in: SimRobot

• required float i = 1

• required float j = 2

• required float k = 3

• required float real = 4

Used in: State

• required uint32 id = 1

• required float p_x = 2

• required float p_y = 3

• required float phi = 4

• required float v_x = 5

• required float v_y = 6

• required float omega = 7

• repeated TransformedRobotMeasurement raw = 8

• optional robot.RobotState primary_detection = 9

  in [m] and [rad], in the global coordinate system

Used in: SimulatorState

• required float p_x = 1

• required float p_y = 2

• required float p_z = 3

• required float v_x = 4

• required float v_y = 5

• required float v_z = 6

• optional float angular_x = 7

• optional float angular_y = 8

• optional float angular_z = 9

Used in: SimulatorState

• required uint32 id = 1

• required float p_x = 2

• required float p_y = 3

• required float p_z = 4

• required Quaternion rotation = 5

• required float v_x = 6

• required float v_y = 7

• required float v_z = 8

• required float r_x = 9

• required float r_y = 10

• required float r_z = 11

• optional bool touches_ball = 12

  touching counts anywhere on the robot; both the dribbler and the robot body

Used in: amun.CommandSimulator, State

• repeated SimRobot blue_robots = 1

• repeated SimRobot yellow_robots = 2

• optional SimBall ball = 3

• optional int64 time = 4

Used in: amun.Status

• required int64 time = 1

• optional Ball ball = 2

• repeated Robot yellow = 3

• repeated Robot blue = 4

  robot states predicted with help of the desired trajectory (if available)

• repeated robot.RadioResponse radio_response = 5

• optional bool is_simulated = 6

  deprecated, use world_source instead

• optional bool has_vision_data = 7

  This actually contains information, whether any vision data was received since the last tracking reset.

• optional TrackingAOI tracking_aoi = 9

• repeated Robot simple_tracking_yellow = 11

  robot states predicted without trajectories, only from vision data

• repeated Robot simple_tracking_blue = 12

• optional Ball simple_tracking_ball = 17

• repeated SimulatorState reality = 13

  debug information from the simulator

• repeated SSL_WrapperPacket vision_frames = 10

  data for tracking replay and vision extraction

• repeated int64 vision_frame_times = 14

• optional int64 vision_transmission_delay = 15

  Currently unused. Remains here since saved Typescript situtations have this field saved, and they don't compile without it. This field has seen multiple other uses in the past: - It used to be the whole vision latency. - It used to be the vision latency without the vision processing time (which was calculated during runtime) - It used to be a user-defined latency [ns], added to the determined vision latency.

• optional int64 radio_command_delay = 18

• optional WorldSource world_source = 16

Used in: amun.CommandTracking, State

• required float x1 = 1

• required float y1 = 2

• required float x2 = 3

• required float y2 = 4

Used in: Robot

• required int64 time = 1

• required float p_x = 2

• required float p_y = 3

• required float phi = 4

• optional float v_x = 5

• optional float v_y = 6

• optional float system_delay = 7

• optional float time_diff_scaled = 8

  scaled by factor 100

• optional float omega = 9

• optional uint32 camera_id = 10

• optional int64 vision_processing_time = 11

  Time [ns] the vision needed to process this frame from receiving to sending

Used in: State

• INTERNAL_SIMULATION = 1

• EXTERNAL_SIMULATION = 2

• REAL_LIFE = 3