Robocup场地信息
2024-05-11 02:04:13
Robocup SPL 赛中的场地参数 和 BHuman 中的场地参数配置文件。
BHuman 场地配置文件：
BHumanCodeRelease-master/Config/Locations/Default/fieldDimensions.cfg
单位 mm。
Robocup SLP 场地参数
BHuman 场地配置文件
// This is the field configuration for the indoor SPL field 2016
// 2016年室内SPL场地的场地配置 y是场地的宽（左为+），x是场地的长（己方为+）// xPos 对手场地边界 ok
xPosOpponentFieldBorder = 5200; // origin -> far field boundary // 远场边界// xPos 对手的目标 ok
xPosOpponentGoal = 5055; // origin -> middle far side of goal // 球门的中远侧// xPos 对手的球门位置 ok
xPosOpponentGoalPost = 4525; // origin -> middle goal post // 中间目标后// xPos 对手的底线 ok
xPosOpponentGroundline = 4500; // origin -> middle goal line // 中间目标线// xPos 对手禁区 ok
xPosOpponentPenaltyArea = 3900; // origin -> middle near penalty area line // 罚球区中线附近// 这个是 7 米，一半就是 3500 ok
xPosOpponentDropInLine = 3500; // origin -> far end of throw-in line // 掷界外球线的远端// 对手点球罚球点
xPosOpponentPenaltyMark = 3200; // origin -> middle penalty mark // 中间点球罚球点xPosPenaltyStrikerStartPosition = 2200; // 前锋首发位置xPosHalfWayLine = 0;
xPosOwnPenaltyMark = -xPosOpponentPenaltyMark;
xPosOwnDropInLine = -xPosOpponentDropInLine;
xPosOwnPenaltyArea = -xPosOpponentPenaltyArea;
xPosOwnGroundline = -xPosOpponentGroundline;
xPosOwnGoalPost = -xPosOpponentGoalPost;
xPosOwnGoal = -xPosOpponentGoal;
xPosOwnFieldBorder = -xPosOpponentFieldBorder;// 左 场 边界 ok
yPosLeftFieldBorder = 3700; // origin -> side field boundary 端领域边界// 左线 ok
yPosLeftSideline = 3000; // origin -> middle side line 中间侧线// 这个先不管 ok
yPosLeftDropInLine = 2600; // origin -> thow-in line // 边线发球 线// 左 禁区 区域 ok
yPosLeftPenaltyArea = 1100; // origin -> middle left penalty area line 禁区区线// 左边 目标
// 1500 + 50 + 50 = 1600 / 2 = 800
yPosLeftGoal = 800; // origin -> middle left goal post 中左门柱yPosCenterGoal = 0;
yPosRightGoal = -yPosLeftGoal;
yPosRightPenaltyArea = -yPosLeftPenaltyArea;
yPosRightDropInLine = -yPosLeftDropInLine;
yPosRightSideline = -yPosLeftSideline;
yPosRightFieldBorder = -yPosLeftFieldBorder;// 线宽 50mm ok
fieldLinesWidth = 50;// 中心圆半径 750mm ok
centerCircleRadius = 750;// ok
goalPostRadius = 50; // 门柱半径// ok
crossBarRadius = goalPostRadius; // 横梁半径// 球门高度 ，官方手册上说 球门高度是 800 ok
goalHeight = 900;// 点球罚球点大小 ok
penaltyMarkSize = 100;// 地毯的边界
carpetBorder = [{from = {x = xPosOpponentFieldBorder; y = yPosRightFieldBorder;};to = {x = xPosOpponentFieldBorder; y = yPosLeftFieldBorder;};},{from = {x = xPosOpponentFieldBorder; y = yPosLeftFieldBorder;};to = {x = xPosOwnFieldBorder; y = yPosLeftFieldBorder;};},{from = {x = xPosOwnFieldBorder; y = yPosLeftFieldBorder;};to = {x = xPosOwnFieldBorder; y = yPosRightFieldBorder;};},{from = {x = xPosOwnFieldBorder; y = yPosRightFieldBorder;};to = {x = xPosOpponentFieldBorder; y = yPosRightFieldBorder;};}
];// 目标 框架 线
goalFrameLines = [{from = {x = xPosOwnGoalPost; y = yPosLeftGoal;};to = {x = xPosOwnGoal; y = yPosLeftGoal;};},{from = {x = xPosOwnGoal; y = yPosLeftGoal;};to = {x = xPosOwnGoal; y = yPosRightGoal;};},{from = {x = xPosOwnGoalPost; y = yPosRightGoal;};to = {x = xPosOwnGoal; y = yPosRightGoal;};},{from = {x = xPosOpponentGoalPost; y = yPosLeftGoal;};to = {x = xPosOpponentGoal; y = yPosLeftGoal;};},{from = {x = xPosOpponentGoal; y = yPosLeftGoal;};to = {x = xPosOpponentGoal; y = yPosRightGoal;};},{from = {x = xPosOpponentGoalPost; y = yPosRightGoal;};to = {x = xPosOpponentGoal; y = yPosRightGoal;};},
];// 场边界
fieldBorder = [{from = {x = xPosOpponentGroundline; y = yPosRightSideline;};to = {x = xPosOpponentGroundline; y = yPosLeftSideline;};},{from = {x = xPosOpponentGroundline; y = yPosLeftSideline;};to = {x = xPosOwnGroundline; y = yPosLeftSideline;};},{from = {x = xPosOwnGroundline; y = yPosLeftSideline;};to = {x = xPosOwnGroundline; y = yPosRightSideline;};},{from = {x = xPosOwnGroundline; y = yPosRightSideline;};to = {x = xPosOpponentGroundline; y = yPosRightSideline;};}
];// 场 线
fieldLines = [// field border lines{from = {x = xPosOpponentGroundline; y = yPosRightSideline;};to = {x = xPosOpponentGroundline; y = yPosLeftSideline;};},{from = {x = xPosOpponentGroundline; y = yPosLeftSideline;};to = {x = xPosOwnGroundline; y = yPosLeftSideline;};},{from = {x = xPosOwnGroundline; y = yPosLeftSideline;};to = {x = xPosOwnGroundline; y = yPosRightSideline;};},{from = {x = xPosOwnGroundline; y = yPosRightSideline;};to = {x = xPosOpponentGroundline; y = yPosRightSideline;};},// center line{from = {x = xPosHalfWayLine; y = yPosLeftSideline;};to = {x = xPosHalfWayLine; y = yPosRightSideline;};},// penalty areas{from = {x = xPosOwnGroundline; y = yPosLeftPenaltyArea;};to = {x = xPosOwnPenaltyArea; y = yPosLeftPenaltyArea;};},{from = {x = xPosOwnPenaltyArea; y = yPosLeftPenaltyArea;};to = {x = xPosOwnPenaltyArea; y = yPosRightPenaltyArea;};},{from = {x = xPosOwnPenaltyArea; y = yPosRightPenaltyArea;};to = {x = xPosOwnGroundline; y = yPosRightPenaltyArea;};},{from = {x = xPosOpponentGroundline; y = yPosLeftPenaltyArea;};to = {x = xPosOpponentPenaltyArea; y = yPosLeftPenaltyArea;};},{from = {x = xPosOpponentPenaltyArea; y = yPosLeftPenaltyArea;};to = {x = xPosOpponentPenaltyArea; y = yPosRightPenaltyArea;};},{from = {x = xPosOpponentPenaltyArea; y = yPosRightPenaltyArea;};to = {x = xPosOpponentGroundline; y = yPosRightPenaltyArea;};},// penalty and center marks{from = {x = 3150; y = 0;};to = {x = 3250; y = 0;};},{from = {x = xPosOpponentPenaltyMark; y = -fieldLinesWidth;};to = {x = xPosOpponentPenaltyMark; y = fieldLinesWidth;};},{from = {x = -3150; y = 0;};to = {x = -3250; y = 0;};},{from = {x = xPosOwnPenaltyMark; y = -fieldLinesWidth;};to = {x = xPosOwnPenaltyMark; y = fieldLinesWidth;};},{from = {x = -fieldLinesWidth; y = 0;};to = {x = fieldLinesWidth; y = 0;};}
];// 中心圆
centerCircle = {center = {x = xPosHalfWayLine; y = 0;};radius = centerCircleRadius;numOfSegments = 16;
};// 角落
corners = {xCorner = [{x = xPosHalfWayLine; y = centerCircleRadius;},{x = xPosHalfWayLine; y = -centerCircleRadius;}];tCorner0 = [{x = xPosHalfWayLine; y = centerCircleRadius;},{x = xPosHalfWayLine; y = -centerCircleRadius;},{x = xPosOwnGroundline; y = yPosLeftPenaltyArea;},{x = xPosOwnGroundline; y = yPosRightPenaltyArea;}];tCorner90 = [{x = xPosHalfWayLine; y = centerCircleRadius;},{x = xPosHalfWayLine; y = -centerCircleRadius;},{x = xPosHalfWayLine; y = yPosRightSideline;}];tCorner180 = [{x = xPosHalfWayLine; y = centerCircleRadius;},{x = xPosHalfWayLine; y = -centerCircleRadius;},{x = xPosOpponentGroundline; y = yPosLeftPenaltyArea;},{x = xPosOpponentGroundline; y = yPosRightPenaltyArea;}];tCorner270 = [{x = xPosHalfWayLine; y = centerCircleRadius;},{x = xPosHalfWayLine; y = -centerCircleRadius;},{x = xPosHalfWayLine; y = yPosLeftSideline;}];lCorner0 = [{x = xPosHalfWayLine; y = centerCircleRadius;},{x = xPosHalfWayLine; y = -centerCircleRadius;},{x = xPosOwnGroundline; y = yPosLeftPenaltyArea;},{x = xPosOwnGroundline; y = yPosRightPenaltyArea;},{x = xPosHalfWayLine; y = yPosRightSideline;},{x = xPosOwnGroundline; y = yPosRightSideline;},{x = xPosOpponentPenaltyArea; y = yPosRightPenaltyArea;}];lCorner90 = [{x = xPosHalfWayLine; y = centerCircleRadius;},{x = xPosHalfWayLine; y = -centerCircleRadius;},{x = xPosOpponentGroundline; y = yPosLeftPenaltyArea;},{x = xPosOpponentGroundline; y = yPosRightPenaltyArea;},{x = xPosHalfWayLine; y = yPosRightSideline;},{x = xPosOpponentGroundline; y = yPosRightSideline;},{x = xPosOwnPenaltyArea; y = yPosRightPenaltyArea;}];lCorner180 = [{x = xPosHalfWayLine; y = centerCircleRadius;},{x = xPosHalfWayLine; y = -centerCircleRadius;},{x = xPosOpponentGroundline; y = yPosLeftPenaltyArea;},{x = xPosOpponentGroundline; y = yPosRightPenaltyArea;},{x = xPosHalfWayLine; y = yPosLeftSideline;},{x = xPosOpponentGroundline; y = yPosLeftSideline;},{x = xPosOwnPenaltyArea; y = yPosLeftPenaltyArea;}];lCorner270 = [{x = xPosHalfWayLine; y = centerCircleRadius;},{x = xPosHalfWayLine; y = -centerCircleRadius;},{x = xPosOwnGroundline; y = yPosLeftPenaltyArea;},{x = xPosOwnGroundline; y = yPosRightPenaltyArea;},{x = xPosHalfWayLine; y = yPosLeftSideline;},{x = xPosOwnGroundline; y = yPosLeftSideline;},{x = xPosOpponentPenaltyArea; y = yPosLeftPenaltyArea;}];
};
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