stp.utils.world_state_converter

Module Contents

Classes

RobotStatus	A class to contain the information from the robot status messsage
RobotState	A class to contain the infomration from the robot state message
PartialWorldState	A class that contains all the ball, and robot states

Functions

robotstate_to_partial_robot(→ RobotState)	return: robot state class representing the state of the robot, partially representing the larger Robot class.
robotstatus_to_partial_robot(→ RobotStatus)	return: robot status class representing the status of the robot, partially representing the larger Robot class.
ballstate_to_ball(→ stp.rc.Ball)	return: ball class representing the state of the ball.
build_game_info(→ stp.rc.GameInfo)	return: GameInfo class from rc.py
field_msg_to_field(→ stp.rc.Field)	return: Field class from rc.py
worldstate_message_converter(→ PartialWorldState)	return: partial world state class representing the state of the robots and ball.
robot_creator(→ stp.rc.Robot)	A function which combines the robot state and robot status to create a rc.Robot class
worldstate_creator(→ stp.rc.WorldState)	A function which combines the partial world state, robot statuses, game info, and field to create a whole world state

Attributes

RobotId

stp.utils.world_state_converter.RobotId

class stp.utils.world_state_converter.RobotStatus(robot_id: RobotId = None, has_ball_sense: bool = None, kicker_charged: bool = None, kicker_healthy: bool = None, lethal_fault: bool = None)

A class to contain the information from the robot status messsage

__slots = ['robot_id', 'has_ball_sense', 'kicker_charged', 'kicker_healthy', 'lethal_fault']

robot_id: RobotId

visible: bool has_ball_sense: bool kicker_charged: bool kicker_healthy: bool lethal_fault: bool

class stp.utils.world_state_converter.RobotState(id: RobotId, pose: numpy.ndarray, twist: numpy.ndarray, visible: bool)

A class to contain the infomration from the robot state message

__slots = ['id', 'pose', 'twist', 'visible']

id: RobotId

pose: numpy.ndarray

twist: numpy.ndarray

visible: bool

class stp.utils.world_state_converter.PartialWorldState(our_robots: List[RobotState], their_robots: List[RobotState], ball: stp.rc.Ball)

A class that contains all the ball, and robot states

__slots = ['our_robots', 'their_robots', 'ball']

our_robots: List[RobotState]

their_robots: List[RobotState]

ball: stp.rc.Ball

stp.utils.world_state_converter.robotstate_to_partial_robot(robot_msg: rj_msgs.msg.RobotState, index: int) → RobotState

Returns:

robot state class representing the state of the robot, partially representing the larger Robot class.

stp.utils.world_state_converter.robotstatus_to_partial_robot(robot_msg: rj_msgs.msg.RobotStatus) → RobotStatus

Returns:

robot status class representing the status of the robot, partially representing the larger Robot class.

stp.utils.world_state_converter.ballstate_to_ball(ball_msg: rj_msgs.msg.BallState) → stp.rc.Ball

Returns:

ball class representing the state of the ball.

stp.utils.world_state_converter.build_game_info(play_state_msg: rj_msgs.msg.PlayState, match_state_msg: rj_msgs.msg.MatchState) → stp.rc.GameInfo

Returns:

GameInfo class from rc.py

stp.utils.world_state_converter.field_msg_to_field(field_msg: rj_msgs.msg.FieldDimensions) → stp.rc.Field

Returns:

Field class from rc.py

stp.utils.world_state_converter.worldstate_message_converter(msg: worldstate_message_converter.msg) → PartialWorldState

Returns:

partial world state class representing the state of the robots and ball.

stp.utils.world_state_converter.robot_creator(robot_state: RobotState, robot_status: RobotStatus = None) → stp.rc.Robot

A function which combines the robot state and robot status to create a rc.Robot class

return:

Robot class from rc.Robot representing the status and state of the robot

stp.utils.world_state_converter.worldstate_creator(partial_world_state: PartialWorldState, robot_statuses: List[RobotStatus], game_info: stp.rc.GameInfo, field: stp.rc.Field, goalie_id: int) → stp.rc.WorldState

A function which combines the partial world state, robot statuses, game info, and field to create a whole world state

return:

a world state as a rc.WorldState object