Ball Symbols

Symbols for accessing ball position and speed

The formalized behavior references a variety of input and output symbols, which can stand for variables or functions of the agent's software. Constants are constant decimal values.

Input Symbols

Name	Type	Measure	Description / Parameters
ball.position.field.x	decimal		Position of the ball in x direction relative to the field in mm

ball.position.field.y	decimal		Position of the ball in y direction relative to the field in mm

ball.position.robot.x	decimal		Position of the ball in x direction relative to the robot in mm

ball.position.robot.y	decimal		Position of the ball in y direction relative to the robot in mm

ball.position.projected.x	decimal		Position of the ball in x direction relative to the robot in mm projected a few frames into the future, according to current odometry

ball.position.projected.y	decimal		Position of the ball in y direction relative to the robot in mm projected a few frames into the future, according to current odometry

ball.projected.angle	decimal		Angle to the ball in def projected a few frames into the future, according to current odometry

ball.distance	decimal		Distance of the ball in mm

ball.angle	decimal		Angle to the ball in deg

ball.was_seen	boolean	true/ false	Whether the ball was seen in the current frame

ball.time_since_last_seen	decimal		Time since the ball was last seen in ms

ball.speed.field.x	decimal		ball.speed.field.x

ball.speed.field.y	decimal		ball.speed.field.y

ball.speed.robot.x	decimal		ball.speed.robot.x

ball.speed.robot.y	decimal		ball.speed.robot.y

ball.speed_absolute	decimal		ball.speed_absolute

ball.direction	decimal		ball.direction

ball.team_position.field.x	decimal		team ball position x

ball.team_position.field.y	decimal		team ball position y

ball.time_since_team_seen	decimal		time since team ball was seen

ball.team_was_seen	boolean	true/ false	team ball was seen

ball.time_since_team_confirmed	decimal		time since team ball was confirmed

ball.team_was_confirmed	boolean	true/ false	team ball was confirmed

ball.team_angle	decimal		Angle to the ball in deg

ball.time_when_own_y_axis_reached	decimal		The time when the ball crosses our y-axis, or a 100000 if ball is resting

ball.position_where_ball_reaches_own_y_axis.y	decimal		The y position when the ball crosses our y-axis

ball.seen_behind_a_field_line	boolean	true/ false	Whether the ball was seen behind a field line

ball.opponent_goal.angle	decimal		The angle from the ball to the opponent goal using the orientation the robot will have when walking from its current position to the ball.