simctl

package
v0.12.1 Latest Latest
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This package is not in the latest version of its module.

 Go to latest Published: Dec 2, 2023 License: GPL-3.0 Imports: 20 Imported by: 0

Documentation

Index

Constants

View Source 
const (
	Default_RobotSpecs_Radius = float32(0.09000000357627869)
	Default_RobotSpecs_Height = float32(0.15000000596046448)
)

Default values for RobotSpecs fields.

View Source 
const (
	Default_TeleportBall_TeleportSafely = bool(false)
	Default_TeleportBall_Roll           = bool(false)
)

Default values for TeleportBall fields.

View Source 
const (
	Default_TeleportRobot_VX       = float32(0)
	Default_TeleportRobot_VY       = float32(0)
	Default_TeleportRobot_VAngular = float32(0)
)

Default values for TeleportRobot fields.

Variables

View Source 
var File_ssl_simulation_config_proto protoreflect.FileDescriptor
View Source 
var File_ssl_simulation_control_proto protoreflect.FileDescriptor
View Source 
var File_ssl_simulation_custom_erforce_robot_spec_proto protoreflect.FileDescriptor
View Source 
var File_ssl_simulation_error_proto protoreflect.FileDescriptor

Functions

This section is empty.

Types

type BallReplaceHandler added in v0.7.0 

type BallReplaceHandler struct {
	// contains filtered or unexported fields
}

func NewBallReplaceHandler added in v0.7.0 

func NewBallReplaceHandler(c *SimulationController) (r *BallReplaceHandler)

func (*BallReplaceHandler) Reset added in v0.7.0 

func (r *BallReplaceHandler) Reset()

type CustomRobotSpecErForce added in v0.5.0 

type CustomRobotSpecErForce struct {
	ShootRadius   float32 `yaml:"shoot_radius"`
	DribblerWidth float32 `yaml:"dribbler_width"`
}

type GeometryHandler added in v0.7.0 

type GeometryHandler struct {
	// contains filtered or unexported fields
}

func NewGeometryHandler added in v0.7.0 

func NewGeometryHandler(c *SimulationController) (r *GeometryHandler)

func (*GeometryHandler) Reset added in v0.7.0 

func (r *GeometryHandler) Reset()

type Limits added in v0.3.0 

type Limits struct {
	AccSpeedupAbsoluteMax float32 `yaml:"acc_speedup_absolute_max,omitempty"`
	AccSpeedupAngularMax  float32 `yaml:"acc_speedup_angular_max,omitempty"`
	AccBrakeAbsoluteMax   float32 `yaml:"acc_brake_absolute_max,omitempty"`
	AccBrakeAngularMax    float32 `yaml:"acc_brake_angular_max,omitempty"`
	VelAbsoluteMax        float32 `yaml:"vel_absolute_max,omitempty"`
	VelAngularMax         float32 `yaml:"vel_angular_max,omitempty"`
}

type RealismConfig 

type RealismConfig struct {

	// Custom config for specific simulators (the protobuf files are managed by the simulators)
	Custom []*anypb.Any `protobuf:"bytes,1,rep,name=custom" json:"custom,omitempty"`
	// contains filtered or unexported fields
}

func (*RealismConfig) Descriptor deprecated 

func (*RealismConfig) Descriptor() ([]byte, []int)

Deprecated: Use RealismConfig.ProtoReflect.Descriptor instead.

func (*RealismConfig) GetCustom 

func (x *RealismConfig) GetCustom() []*anypb.Any

func (*RealismConfig) ProtoMessage 

func (*RealismConfig) ProtoMessage()

func (*RealismConfig) ProtoReflect 

func (x *RealismConfig) ProtoReflect() protoreflect.Message

func (*RealismConfig) Reset 

func (x *RealismConfig) Reset()

func (*RealismConfig) String 

func (x *RealismConfig) String() string

type RobotCountHandler added in v0.7.0 

type RobotCountHandler struct {
	// contains filtered or unexported fields
}

func NewRobotCountHandler added in v0.7.0 

func NewRobotCountHandler(c *SimulationController) (r *RobotCountHandler)

func (*RobotCountHandler) Reset added in v0.7.0 

func (r *RobotCountHandler) Reset()

type RobotLimits 

type RobotLimits struct {

	// Max absolute speed-up acceleration [m/s^2]
	AccSpeedupAbsoluteMax *float32 `protobuf:"fixed32,1,opt,name=acc_speedup_absolute_max,json=accSpeedupAbsoluteMax" json:"acc_speedup_absolute_max,omitempty"`
	// Max angular speed-up acceleration [rad/s^2]
	AccSpeedupAngularMax *float32 `protobuf:"fixed32,2,opt,name=acc_speedup_angular_max,json=accSpeedupAngularMax" json:"acc_speedup_angular_max,omitempty"`
	// Max absolute brake acceleration [m/s^2]
	AccBrakeAbsoluteMax *float32 `protobuf:"fixed32,3,opt,name=acc_brake_absolute_max,json=accBrakeAbsoluteMax" json:"acc_brake_absolute_max,omitempty"`
	// Max angular brake acceleration [rad/s^2]
	AccBrakeAngularMax *float32 `protobuf:"fixed32,4,opt,name=acc_brake_angular_max,json=accBrakeAngularMax" json:"acc_brake_angular_max,omitempty"`
	// Max absolute velocity [m/s]
	VelAbsoluteMax *float32 `protobuf:"fixed32,5,opt,name=vel_absolute_max,json=velAbsoluteMax" json:"vel_absolute_max,omitempty"`
	// Max angular velocity [rad/s]
	VelAngularMax *float32 `protobuf:"fixed32,6,opt,name=vel_angular_max,json=velAngularMax" json:"vel_angular_max,omitempty"`
	// contains filtered or unexported fields
}

Movement limits for a robot

func (*RobotLimits) Descriptor deprecated 

func (*RobotLimits) Descriptor() ([]byte, []int)

Deprecated: Use RobotLimits.ProtoReflect.Descriptor instead.

func (*RobotLimits) GetAccBrakeAbsoluteMax 

func (x *RobotLimits) GetAccBrakeAbsoluteMax() float32

func (*RobotLimits) GetAccBrakeAngularMax 

func (x *RobotLimits) GetAccBrakeAngularMax() float32

func (*RobotLimits) GetAccSpeedupAbsoluteMax 

func (x *RobotLimits) GetAccSpeedupAbsoluteMax() float32

func (*RobotLimits) GetAccSpeedupAngularMax 

func (x *RobotLimits) GetAccSpeedupAngularMax() float32

func (*RobotLimits) GetVelAbsoluteMax 

func (x *RobotLimits) GetVelAbsoluteMax() float32

func (*RobotLimits) GetVelAngularMax 

func (x *RobotLimits) GetVelAngularMax() float32

func (*RobotLimits) ProtoMessage 

func (*RobotLimits) ProtoMessage()

func (*RobotLimits) ProtoReflect 

func (x *RobotLimits) ProtoReflect() protoreflect.Message

func (*RobotLimits) Reset 

func (x *RobotLimits) Reset()

func (*RobotLimits) String 

func (x *RobotLimits) String() string

type RobotSpec added in v0.3.0 

type RobotSpec struct {
	Radius             float32                `yaml:"radius"`
	Height             float32                `yaml:"height"`
	Mass               float32                `yaml:"mass"`
	MaxLinearKickSpeed float32                `yaml:"max_linear_kick_speed"`
	MaxChipKickSpeed   float32                `yaml:"max_chip_kick_speed"`
	CenterToDribbler   float32                `yaml:"center_to_dribbler"`
	Limits             Limits                 `yaml:"limits"`
	CustomErforce      CustomRobotSpecErForce `yaml:"custom_erforce"`
}

type RobotSpecErForce added in v0.5.0 

type RobotSpecErForce struct {

	// The distance [m] from the robot center to the ball, when the ball is as close as possible to the robot.
	// The ball may be a little bit inside the robot when looking from top, due to the dimensions of the dribbler.
	ShootRadius *float32 `protobuf:"fixed32,1,opt,name=shoot_radius,json=shootRadius" json:"shoot_radius,omitempty"`
	// The width of the dribbler itself (where the ball can be controlled), without the mechanical frame [m].
	DribblerWidth *float32 `protobuf:"fixed32,3,opt,name=dribbler_width,json=dribblerWidth" json:"dribbler_width,omitempty"`
	// contains filtered or unexported fields
}

Custom robot specs for ER-Force simulator

func (*RobotSpecErForce) Descriptor deprecated added in v0.5.0 

func (*RobotSpecErForce) Descriptor() ([]byte, []int)

Deprecated: Use RobotSpecErForce.ProtoReflect.Descriptor instead.

func (*RobotSpecErForce) GetDribblerWidth added in v0.5.2 

func (x *RobotSpecErForce) GetDribblerWidth() float32

func (*RobotSpecErForce) GetShootRadius added in v0.5.0 

func (x *RobotSpecErForce) GetShootRadius() float32

func (*RobotSpecErForce) ProtoMessage added in v0.5.0 

func (*RobotSpecErForce) ProtoMessage()

func (*RobotSpecErForce) ProtoReflect added in v0.5.0 

func (x *RobotSpecErForce) ProtoReflect() protoreflect.Message

func (*RobotSpecErForce) Reset added in v0.5.0 

func (x *RobotSpecErForce) Reset()

func (*RobotSpecErForce) String added in v0.5.0 

func (x *RobotSpecErForce) String() string

type RobotSpecHandler added in v0.7.0 

type RobotSpecHandler struct {
	// contains filtered or unexported fields
}

func NewRobotSpecHandler added in v0.7.0 

func NewRobotSpecHandler(c *SimulationController, configFile string) (r *RobotSpecHandler)

func (*RobotSpecHandler) Reset added in v0.7.0 

func (r *RobotSpecHandler) Reset()

type RobotSpecs 

type RobotSpecs struct {

	// Id of the robot
	Id *referee.RobotId `protobuf:"bytes,1,req,name=id" json:"id,omitempty"`
	// Robot radius [m]
	Radius *float32 `protobuf:"fixed32,2,opt,name=radius,def=0.09" json:"radius,omitempty"`
	// Robot height [m]
	Height *float32 `protobuf:"fixed32,3,opt,name=height,def=0.15" json:"height,omitempty"`
	// Robot mass [kg]
	Mass *float32 `protobuf:"fixed32,4,opt,name=mass" json:"mass,omitempty"`
	// Max linear kick speed [m/s] (unset = unlimited)
	MaxLinearKickSpeed *float32 `protobuf:"fixed32,7,opt,name=max_linear_kick_speed,json=maxLinearKickSpeed" json:"max_linear_kick_speed,omitempty"`
	// Max chip kick speed [m/s] (unset = unlimited)
	MaxChipKickSpeed *float32 `protobuf:"fixed32,8,opt,name=max_chip_kick_speed,json=maxChipKickSpeed" json:"max_chip_kick_speed,omitempty"`
	// Distance from robot center to dribbler [m] (implicitly defines the opening angle and dribbler width)
	CenterToDribbler *float32 `protobuf:"fixed32,9,opt,name=center_to_dribbler,json=centerToDribbler" json:"center_to_dribbler,omitempty"`
	// Movement limits
	Limits *RobotLimits `protobuf:"bytes,10,opt,name=limits" json:"limits,omitempty"`
	// Wheel angle configuration
	WheelAngles *RobotWheelAngles `protobuf:"bytes,13,opt,name=wheel_angles,json=wheelAngles" json:"wheel_angles,omitempty"`
	// Custom robot spec for specific simulators (the protobuf files are managed by the simulators)
	Custom []*anypb.Any `protobuf:"bytes,14,rep,name=custom" json:"custom,omitempty"`
	// contains filtered or unexported fields
}

Specs of a robot

func (*RobotSpecs) Descriptor deprecated 

func (*RobotSpecs) Descriptor() ([]byte, []int)

Deprecated: Use RobotSpecs.ProtoReflect.Descriptor instead.

func (*RobotSpecs) GetCenterToDribbler added in v0.3.0 

func (x *RobotSpecs) GetCenterToDribbler() float32

func (*RobotSpecs) GetCustom 

func (x *RobotSpecs) GetCustom() []*anypb.Any

func (*RobotSpecs) GetHeight 

func (x *RobotSpecs) GetHeight() float32

func (*RobotSpecs) GetId 

func (x *RobotSpecs) GetId() *referee.RobotId

func (*RobotSpecs) GetLimits 

func (x *RobotSpecs) GetLimits() *RobotLimits

func (*RobotSpecs) GetMass 

func (x *RobotSpecs) GetMass() float32

func (*RobotSpecs) GetMaxChipKickSpeed 

func (x *RobotSpecs) GetMaxChipKickSpeed() float32

func (*RobotSpecs) GetMaxLinearKickSpeed 

func (x *RobotSpecs) GetMaxLinearKickSpeed() float32

func (*RobotSpecs) GetRadius 

func (x *RobotSpecs) GetRadius() float32

func (*RobotSpecs) GetWheelAngles 

func (x *RobotSpecs) GetWheelAngles() *RobotWheelAngles

func (*RobotSpecs) ProtoMessage 

func (*RobotSpecs) ProtoMessage()

func (*RobotSpecs) ProtoReflect 

func (x *RobotSpecs) ProtoReflect() protoreflect.Message

func (*RobotSpecs) Reset 

func (x *RobotSpecs) Reset()

func (*RobotSpecs) String 

func (x *RobotSpecs) String() string

type RobotWheelAngles 

type RobotWheelAngles struct {

	// Angle front right [rad]
	FrontRight *float32 `protobuf:"fixed32,1,req,name=front_right,json=frontRight" json:"front_right,omitempty"`
	// Angle back right [rad]
	BackRight *float32 `protobuf:"fixed32,2,req,name=back_right,json=backRight" json:"back_right,omitempty"`
	// Angle back left [rad]
	BackLeft *float32 `protobuf:"fixed32,3,req,name=back_left,json=backLeft" json:"back_left,omitempty"`
	// Angle front left [rad]
	FrontLeft *float32 `protobuf:"fixed32,4,req,name=front_left,json=frontLeft" json:"front_left,omitempty"`
	// contains filtered or unexported fields
}

Robot wheel angle configuration all angles are relative to looking forward, all wheels / angles are clockwise

func (*RobotWheelAngles) Descriptor deprecated 

func (*RobotWheelAngles) Descriptor() ([]byte, []int)

Deprecated: Use RobotWheelAngles.ProtoReflect.Descriptor instead.

func (*RobotWheelAngles) GetBackLeft 

func (x *RobotWheelAngles) GetBackLeft() float32

func (*RobotWheelAngles) GetBackRight 

func (x *RobotWheelAngles) GetBackRight() float32

func (*RobotWheelAngles) GetFrontLeft 

func (x *RobotWheelAngles) GetFrontLeft() float32

func (*RobotWheelAngles) GetFrontRight 

func (x *RobotWheelAngles) GetFrontRight() float32

func (*RobotWheelAngles) ProtoMessage 

func (*RobotWheelAngles) ProtoMessage()

func (*RobotWheelAngles) ProtoReflect 

func (x *RobotWheelAngles) ProtoReflect() protoreflect.Message

func (*RobotWheelAngles) Reset 

func (x *RobotWheelAngles) Reset()

func (*RobotWheelAngles) String 

func (x *RobotWheelAngles) String() string

type SimulationController 

type SimulationController struct {
	// contains filtered or unexported fields
}

func NewSimulationController 

func NewSimulationController(visionAddress, refereeAddress, trackerAddress, simControlPort, robotSpecConfig string, verbose bool) (c *SimulationController)

func (*SimulationController) Start 

func (c *SimulationController) Start()

func (*SimulationController) Stop 

func (c *SimulationController) Stop()

type SimulatorCommand 

type SimulatorCommand struct {

	// Control the simulation
	Control *SimulatorControl `protobuf:"bytes,1,opt,name=control" json:"control,omitempty"`
	// Configure the simulation
	Config *SimulatorConfig `protobuf:"bytes,2,opt,name=config" json:"config,omitempty"`
	// contains filtered or unexported fields
}

Command from the connected client to the simulator

func (*SimulatorCommand) Descriptor deprecated 

func (*SimulatorCommand) Descriptor() ([]byte, []int)

Deprecated: Use SimulatorCommand.ProtoReflect.Descriptor instead.

func (*SimulatorCommand) GetConfig 

func (x *SimulatorCommand) GetConfig() *SimulatorConfig

func (*SimulatorCommand) GetControl 

func (x *SimulatorCommand) GetControl() *SimulatorControl

func (*SimulatorCommand) ProtoMessage 

func (*SimulatorCommand) ProtoMessage()

func (*SimulatorCommand) ProtoReflect 

func (x *SimulatorCommand) ProtoReflect() protoreflect.Message

func (*SimulatorCommand) Reset 

func (x *SimulatorCommand) Reset()

func (*SimulatorCommand) String 

func (x *SimulatorCommand) String() string

type SimulatorConfig 

type SimulatorConfig struct {

	// Update the geometry
	Geometry *vision.SSL_GeometryData `protobuf:"bytes,1,opt,name=geometry" json:"geometry,omitempty"`
	// Update the robot specs
	RobotSpecs []*RobotSpecs `protobuf:"bytes,2,rep,name=robot_specs,json=robotSpecs" json:"robot_specs,omitempty"`
	// Update realism configuration
	RealismConfig *RealismConfig `protobuf:"bytes,3,opt,name=realism_config,json=realismConfig" json:"realism_config,omitempty"`
	// Change the vision publish port
	VisionPort *uint32 `protobuf:"varint,4,opt,name=vision_port,json=visionPort" json:"vision_port,omitempty"`
	// contains filtered or unexported fields
}

Change the simulator configuration

func (*SimulatorConfig) Descriptor deprecated 

func (*SimulatorConfig) Descriptor() ([]byte, []int)

Deprecated: Use SimulatorConfig.ProtoReflect.Descriptor instead.

func (*SimulatorConfig) GetGeometry 

func (x *SimulatorConfig) GetGeometry() *vision.SSL_GeometryData

func (*SimulatorConfig) GetRealismConfig 

func (x *SimulatorConfig) GetRealismConfig() *RealismConfig

func (*SimulatorConfig) GetRobotSpecs 

func (x *SimulatorConfig) GetRobotSpecs() []*RobotSpecs

func (*SimulatorConfig) GetVisionPort 

func (x *SimulatorConfig) GetVisionPort() uint32

func (*SimulatorConfig) ProtoMessage 

func (*SimulatorConfig) ProtoMessage()

func (*SimulatorConfig) ProtoReflect 

func (x *SimulatorConfig) ProtoReflect() protoreflect.Message

func (*SimulatorConfig) Reset 

func (x *SimulatorConfig) Reset()

func (*SimulatorConfig) String 

func (x *SimulatorConfig) String() string

type SimulatorControl 

type SimulatorControl struct {

	// Teleport the ball
	TeleportBall *TeleportBall `protobuf:"bytes,1,opt,name=teleport_ball,json=teleportBall" json:"teleport_ball,omitempty"`
	// Teleport robots
	TeleportRobot []*TeleportRobot `protobuf:"bytes,2,rep,name=teleport_robot,json=teleportRobot" json:"teleport_robot,omitempty"`
	// Change the simulation speed
	SimulationSpeed *float32 `protobuf:"fixed32,3,opt,name=simulation_speed,json=simulationSpeed" json:"simulation_speed,omitempty"`
	// contains filtered or unexported fields
}

Control the simulation

func (*SimulatorControl) Descriptor deprecated 

func (*SimulatorControl) Descriptor() ([]byte, []int)

Deprecated: Use SimulatorControl.ProtoReflect.Descriptor instead.

func (*SimulatorControl) GetSimulationSpeed 

func (x *SimulatorControl) GetSimulationSpeed() float32

func (*SimulatorControl) GetTeleportBall 

func (x *SimulatorControl) GetTeleportBall() *TeleportBall

func (*SimulatorControl) GetTeleportRobot 

func (x *SimulatorControl) GetTeleportRobot() []*TeleportRobot

func (*SimulatorControl) ProtoMessage 

func (*SimulatorControl) ProtoMessage()

func (*SimulatorControl) ProtoReflect 

func (x *SimulatorControl) ProtoReflect() protoreflect.Message

func (*SimulatorControl) Reset 

func (x *SimulatorControl) Reset()

func (*SimulatorControl) String 

func (x *SimulatorControl) String() string

type SimulatorError 

type SimulatorError struct {

	// Unique code of the error for automatic handling on client side
	Code *string `protobuf:"bytes,1,opt,name=code" json:"code,omitempty"`
	// Human readable description of the error
	Message *string `protobuf:"bytes,2,opt,name=message" json:"message,omitempty"`
	// contains filtered or unexported fields
}

Errors in the simulator

func (*SimulatorError) Descriptor deprecated 

func (*SimulatorError) Descriptor() ([]byte, []int)

Deprecated: Use SimulatorError.ProtoReflect.Descriptor instead.

func (*SimulatorError) GetCode 

func (x *SimulatorError) GetCode() string

func (*SimulatorError) GetMessage 

func (x *SimulatorError) GetMessage() string

func (*SimulatorError) ProtoMessage 

func (*SimulatorError) ProtoMessage()

func (*SimulatorError) ProtoReflect 

func (x *SimulatorError) ProtoReflect() protoreflect.Message

func (*SimulatorError) Reset 

func (x *SimulatorError) Reset()

func (*SimulatorError) String 

func (x *SimulatorError) String() string

type SimulatorResponse 

type SimulatorResponse struct {

	// List of errors, like using unsupported features
	Errors []*SimulatorError `protobuf:"bytes,1,rep,name=errors" json:"errors,omitempty"`
	// contains filtered or unexported fields
}

Response of the simulator to the connected client

func (*SimulatorResponse) Descriptor deprecated 

func (*SimulatorResponse) Descriptor() ([]byte, []int)

Deprecated: Use SimulatorResponse.ProtoReflect.Descriptor instead.

func (*SimulatorResponse) GetErrors 

func (x *SimulatorResponse) GetErrors() []*SimulatorError

func (*SimulatorResponse) ProtoMessage 

func (*SimulatorResponse) ProtoMessage()

func (*SimulatorResponse) ProtoReflect 

func (x *SimulatorResponse) ProtoReflect() protoreflect.Message

func (*SimulatorResponse) Reset 

func (x *SimulatorResponse) Reset()

func (*SimulatorResponse) String 

func (x *SimulatorResponse) String() string

type TeamRobotSpecs added in v0.3.0 

type TeamRobotSpecs struct {
	Teams map[string]RobotSpec `yaml:"robot-specs"`
}

type TeleportBall 

type TeleportBall struct {

	// x-coordinate [m]
	X *float32 `protobuf:"fixed32,1,opt,name=x" json:"x,omitempty"`
	// y-coordinate [m]
	Y *float32 `protobuf:"fixed32,2,opt,name=y" json:"y,omitempty"`
	// z-coordinate (height) [m]
	Z *float32 `protobuf:"fixed32,3,opt,name=z" json:"z,omitempty"`
	// Velocity in x-direction [m/s]
	Vx *float32 `protobuf:"fixed32,4,opt,name=vx" json:"vx,omitempty"`
	// Velocity in y-direction [m/s]
	Vy *float32 `protobuf:"fixed32,5,opt,name=vy" json:"vy,omitempty"`
	// Velocity in z-direction [m/s]
	Vz *float32 `protobuf:"fixed32,6,opt,name=vz" json:"vz,omitempty"`
	// Teleport the ball safely to the target, for example by
	// moving robots out of the way in case of collision and set speed of robots close-by to zero
	TeleportSafely *bool `protobuf:"varint,7,opt,name=teleport_safely,json=teleportSafely,def=0" json:"teleport_safely,omitempty"`
	// Adapt the angular ball velocity such that the ball is rolling
	Roll *bool `protobuf:"varint,8,opt,name=roll,def=0" json:"roll,omitempty"`
	// contains filtered or unexported fields
}

Teleport the ball to a new location and optionally set it to some velocity

func (*TeleportBall) Descriptor deprecated 

func (*TeleportBall) Descriptor() ([]byte, []int)

Deprecated: Use TeleportBall.ProtoReflect.Descriptor instead.

func (*TeleportBall) GetRoll 

func (x *TeleportBall) GetRoll() bool

func (*TeleportBall) GetTeleportSafely 

func (x *TeleportBall) GetTeleportSafely() bool

func (*TeleportBall) GetVx 

func (x *TeleportBall) GetVx() float32

func (*TeleportBall) GetVy 

func (x *TeleportBall) GetVy() float32

func (*TeleportBall) GetVz 

func (x *TeleportBall) GetVz() float32

func (*TeleportBall) GetX 

func (x *TeleportBall) GetX() float32

func (*TeleportBall) GetY 

func (x *TeleportBall) GetY() float32

func (*TeleportBall) GetZ 

func (x *TeleportBall) GetZ() float32

func (*TeleportBall) ProtoMessage 

func (*TeleportBall) ProtoMessage()

func (*TeleportBall) ProtoReflect 

func (x *TeleportBall) ProtoReflect() protoreflect.Message

func (*TeleportBall) Reset 

func (x *TeleportBall) Reset()

func (*TeleportBall) String 

func (x *TeleportBall) String() string

type TeleportRobot 

type TeleportRobot struct {

	// Robot id to teleport
	Id *referee.RobotId `protobuf:"bytes,1,req,name=id" json:"id,omitempty"`
	// x-coordinate [m]
	X *float32 `protobuf:"fixed32,2,opt,name=x" json:"x,omitempty"`
	// y-coordinate [m]
	Y *float32 `protobuf:"fixed32,3,opt,name=y" json:"y,omitempty"`
	// Orientation [rad], measured from the x-axis counter-clockwise
	Orientation *float32 `protobuf:"fixed32,4,opt,name=orientation" json:"orientation,omitempty"`
	// Global velocity [m/s] towards x-axis
	VX *float32 `protobuf:"fixed32,5,opt,name=v_x,json=vX,def=0" json:"v_x,omitempty"`
	// Global velocity [m/s] towards y-axis
	VY *float32 `protobuf:"fixed32,6,opt,name=v_y,json=vY,def=0" json:"v_y,omitempty"`
	// Angular velocity [rad/s]
	VAngular *float32 `protobuf:"fixed32,7,opt,name=v_angular,json=vAngular,def=0" json:"v_angular,omitempty"`
	// Robot should be present on the field?
	// true -> robot will be added, if it does not exist yet
	// false -> robot will be removed, if it is present
	Present *bool `protobuf:"varint,8,opt,name=present" json:"present,omitempty"`
	// contains filtered or unexported fields
}

Teleport a robot to some location and give it a velocity

func (*TeleportRobot) Descriptor deprecated 

func (*TeleportRobot) Descriptor() ([]byte, []int)

Deprecated: Use TeleportRobot.ProtoReflect.Descriptor instead.

func (*TeleportRobot) GetId 

func (x *TeleportRobot) GetId() *referee.RobotId

func (*TeleportRobot) GetOrientation 

func (x *TeleportRobot) GetOrientation() float32

func (*TeleportRobot) GetPresent 

func (x *TeleportRobot) GetPresent() bool

func (*TeleportRobot) GetVAngular 

func (x *TeleportRobot) GetVAngular() float32

func (*TeleportRobot) GetVX 

func (x *TeleportRobot) GetVX() float32

func (*TeleportRobot) GetVY 

func (x *TeleportRobot) GetVY() float32

func (*TeleportRobot) GetX 

func (x *TeleportRobot) GetX() float32

func (*TeleportRobot) GetY 

func (x *TeleportRobot) GetY() float32

func (*TeleportRobot) ProtoMessage 

func (*TeleportRobot) ProtoMessage()

func (*TeleportRobot) ProtoReflect 

func (x *TeleportRobot) ProtoReflect() protoreflect.Message

func (*TeleportRobot) Reset 

func (x *TeleportRobot) Reset()

func (*TeleportRobot) String 

func (x *TeleportRobot) String() string

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