【Nao机器人】Robocup场地信息

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。

球场图

自己画的

Robocup SLP 场地参数

场地信息1


球门



BHuman 场地配置文件

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
// 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;}
];
};

文章作者: ahoj
文章链接: https://ahoj.cc/2019/04/Nao机器人-Robocup场地信息/
版权声明: 本博客所有文章除特别声明外,均采用 CC BY-NC-SA 4.0 许可协议。转载请注明来自 ahoj's blog