RelativeHomePosition
public RelativeHomePosition(float[] weights,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D offset)
Specifies a relative home position. The relative home position is
calculated by an x and y weight plus an offset. The weights are used as
multipliers to the half field length and width of the RCServerMetaModel in
use. The range of the weights is within -1 <= weight[0] <= 0 for the first
weight (x-direction) and -1 <= weight[1] <= 1 for the second
(y-direction).
Examples: (weight[0] = x and weight[1] = y)
- [x->0, y->0] results in the field center.
- [x->-1, y->0] results in the center below the goal.
- [x->-0.5, y->1] results in the middle of our half on the upper field
border line.
The first two values of the offset is added to the via weights calculated
position to the final position. The third value is directly interpreted as
final turn angle.
- Parameters:
weights
-
offset
-