Symbols concerning self-localization.
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.
| Name | Type | Measure | Description / Parameters |
| selfloc.opponent_goal.angle | decimal | | Angle to the opponent goal |
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| selfloc.opponent_goal.angle_width | decimal | | Angle width of the opponent goal |
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| selfloc.opponent_goal.grubby_angle | decimal | | Angle to the last opponent goal percept |
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| selfloc.opponent_goal.grubby_angle_width | decimal | | Angle width of the last opponent goal percept |
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| selfloc.opponent_goal.grubby_seen | boolean | true/ false | Wether the opponent goal has been seen in the current frame |
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| selfloc.distance_to | decimal | mm | Calculates the distance to a specified point on the field |
| | | Parameter | Type | Measure | Range | Description | | selfloc.distance_to.x | decimal | mm | -3000..3000 | The x position on the field | | selfloc.distance_to.y | decimal | mm | -2000..2000 | The y position on the field |
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| selfloc.angle_to | decimal | deg | Calculates the angle to a specified point on the field |
| | | Parameter | Type | Measure | Range | Description | | selfloc.angle_to.x | decimal | mm | -3000..3000 | The x position on the field | | selfloc.angle_to.y | decimal | mm | -2000..2000 | The y position on the field |
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| selfloc.field_to_relative.x | decimal | mm | Calculates the relative x position to a specified point on the field |
| | | Parameter | Type | Measure | Range | Description | | selfloc.field_to_relative.x.x | decimal | mm | -3000..3000 | The x position on the field | | selfloc.field_to_relative.x.y | decimal | mm | -2000..2000 | The y position on the field |
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| selfloc.field_to_relative.y | decimal | mm | Calculates the relative y position to a specified point on the field |
| | | Parameter | Type | Measure | Range | Description | | selfloc.field_to_relative.y.x | decimal | mm | -3000..3000 | The x position on the field | | selfloc.field_to_relative.y.y | decimal | mm | -2000..2000 | The y position on the field |
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| selfloc.distance_to_own_penalty_area | decimal | mm | Calculates the distance of a specified point on the field to the own penalty area; points inside of penalty area have negative distances |
| | | Parameter | Type | Measure | Range | Description | | selfloc.distance_to_own_penalty_area.x | decimal | mm | -3000..3000 | The x position on the field | | selfloc.distance_to_own_penalty_area.y | decimal | mm | -2000..2000 | The y position on the field |
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| selfloc.relative_angle_to_left_beacon | decimal | | Angle to the left beacon (based on percept buffer) |
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| selfloc.relative_angle_to_right_beacon | decimal | | Angle to the right beacon (based on percept buffer) |
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| robot_pose.is_valid | boolean | true/ false | Is the robot pose valid? |
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| robot_pose.x | decimal | | The robot's x-position on the field |
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| robot_pose.y | decimal | | The robot's y-position on the field |
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| selfloc.defensive_supporter_position.x | decimal | | The x-position where to place the defensive supporter |
| | | Parameter | Type | Measure | Range | Description | | selfloc.defensive_supporter_position.x.distance_to_goal | decimal | mm | 0..4000 | The requested distance from the middle of the own goal |
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| selfloc.defensive_supporter_position.y | decimal | | The y-position where to place the defensive supporter |
| | | Parameter | Type | Measure | Range | Description | | selfloc.defensive_supporter_position.y.distance_to_goal | decimal | mm | 0..4000 | The requested distance from the middle of the own goal |
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| selfloc.goalie_position.x | decimal | | The x-position where to place the goalie |
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| selfloc.goalie_position.y | decimal | | The y-position where to place the goalie |
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| robot_pose.angle | decimal | | The robot's angle on the field |
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| selfloc.time_since_last_seen_left_beacon | decimal | | The time since the left beacon was seen |
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| selfloc.time_since_last_seen_right_beacon | decimal | | The time since the right beacon was seen |
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| selfloc.time_since_last_seen_beacon | decimal | | The time since a beacon was seen |
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| selfloc.time_since_last_seen_own_goal | decimal | | The time since the own goal was seen |
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| selfloc.time_since_last_seen_opponent_goal | decimal | | The time since the opponent goal was seen |
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| selfloc.time_since_last_seen_goal | decimal | | The time since a goal was seen |
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| selfloc.time_since_last_seen_landmark | decimal | | The time since a landmark was seen |
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| selfloc.time_since_last_seen_two_landmarks | decimal | | The time since two different landmarks were seen |
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| selfloc.masspoint_of_seen_parts_of_opponent_goal.x | decimal | | the distance to the masspoint of the last 100 seen footpoints of the opponent goal |
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| selfloc.masspoint_of_seen_parts_of_opponent_goal.y | decimal | | |
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| selfloc.masspoint_of_seen_parts_of_opponent_goal_is_valid | boolean | true/ false | |
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| selfloc.freePartOfOpponentGoalInFront | boolean | true/ false | |
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| selfloc.middle_circle.was_seen | boolean | true/ false | |
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| selfloc.middle_circle.x | decimal | | |
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| selfloc.middle_circle.y | decimal | | |
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| selfloc.middle_circle.time_since_seen | decimal | | |
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