soccer_strategy.robot_controlled_3d.RobotControlled3D

class soccer_strategy.robot_controlled_3d.RobotControlled3D(team, role, status)[source]

__init__(team, role, status)[source]

Initializes the robot structure

Parameters:

robot_id – Integer representing the robot’s id
team – Which team the robot is on
role – Which role on the field
status – What is the current status of the robot
position – X, Y position of the robot where Y is the short length of the field and X is the long length

Methods

`__init__`(team, role, status)	Initializes the robot structure
`action_completed_callback`(data)
`amcl_pose_callback`(amcl_pose)
`can_kick`(args, *kwargs)	Whether the robot can kick the ball based on the robot and ball position
`get_back_up`([type])	Send a command get back up, based on the get up type
`get_detected_obstacles`()
`head_centered_on_ball_callback`(data)
`imu_callback`(msg)
`kick`(kick_velocity)	Send a command to kick the ball
`reset_initial_position`([variance])	Set's the robot's position based on the amcl_pose :return:
`reset_robot_callback`(pose)
`run_fixed_trajectory`([trajectory_name])
`set_navigation_position`(goal_position)	Set's the robot's navigation position for the robot to go to :param goal_position: goal_position: [x, y, theta] of the robot's goal position
`shorten_navigation_position`(goal_position)	Limits the length of the navigation, for example a goal given 2 meters will return a goal determined by the shorten_navigation_limit parameter, if it is 1 then 1 meter max navigation limit :param goal_position: [x, y, theta] of the robot's goal position
`terminate_walk`()	Send a command to stop the robot's walking
`update_robot_state`(_)

Attributes

`BODY_LENGTH`
`BODY_WIDTH`

class Role(value)

Bases: IntEnum

An enumeration.

class Status(value)

Bases: IntEnum

An enumeration.

class Team(value)

Bases: IntEnum

An enumeration.

class TeamColor(value)

Bases: IntEnum

An enumeration.

can_kick(*args, **kwargs)[source]

Whether the robot can kick the ball based on the robot and ball position

Parameters:

Returns:

True if the robot can kick the ball

abstract get_back_up(type: str = 'getupback'): Send a command get back up, based on the get up type

reset_initial_position(variance=0.02)[source]: Set’s the robot’s position based on the amcl_pose :return:

set_navigation_position(goal_position)[source]: Set’s the robot’s navigation position for the robot to go to :param goal_position: goal_position: [x, y, theta] of the robot’s goal position

shorten_navigation_position(goal_position): Limits the length of the navigation, for example a goal given 2 meters will return a goal determined by the shorten_navigation_limit parameter, if it is 1 then 1 meter max navigation limit :param goal_position: [x, y, theta] of the robot’s goal position