Sensor Information

(see Time ObjInfo ObjInfo ...)

Transmits visual information from the server. Time indicates the current time. ObjInfo is information about a visible object in the following format:

(ObjName Distance Direction DistChng DirChng BodyDir HeadDir)

Table 3.2: Sensor Information

ObjName	::=	(player Teamname UniformNumber)
		| (goal [l|r])
		| (ball)
		| (flag c)
		| (flag [l|c|r] [t|b])
		| (flag p [l|r] [t|c|b])
		| (flag g [l|r] [t|b])
		| (flag [l|r|t|b] 0)
		| (flag [t|b] [l|r] [10|20|30|40|50])
		| (flag [l|r] [t|b] [10|20|30])
		| (line [l|r|t|b])

where Distance is the relative distance and Direction is the relative direction of the object, DistChng and DirChng are respectively the radius- and angle-components of change of the relative position of the object. DistChng and DirChng are only sketchy values and not very exact. BodyDir and HeadDir are the direction of the body and the head of the player, they are only included if the object is a player. For more detail, please see section 3.2.1.

The characters `` l, c, r, t, b'' in flags and lines means left, center, right, top and bottom and indicates where on the field the flag is positioned. `` p'' means that the flag is indicating the penalty area and `` g'' means that the flag indicates a goalpost. For more information about the positions of the flags see Fig. 3.1.

In the case of (line ...), Distance is the distance to the point where the center line of the player's view crosses the line, and Direction is the direction of line.

As the distance to another player becomes larger and larger, more and more information about the player is lost. The quality of the information also depends on the change_view commands. The exact detail of how this works is described in section 3.2.1

(hear Time Direction Message)

Auditory information is delivered to the client in this manner. Direction is the direction of the sender. In the case that the sender is the client itself, Direction is ` self'. Time indicates the current time. This message is sent immediately when a client sends a (say Message) command.

Judgments of the referee are also broadcast using this form. In this case, Direction is ` referee'. Possible judgements are as follows:

before_kick_off, kick_off_l, kick_off_r, kick_in_l, kick_in_r, corner_kick_l, corner_kick_r, offside_l, offside_r, goal_kick_l, goal_kick_r, free_kick_l, free_kick_r, play_on, half_time, time_up, extend, foul_Side_UniformNumber, goal_Side_Point.

(sense_body Time

	(view_mode ViewQuality ViewWidth)
	(stamina Stamina Effort)
	(speed AmountOfSpeed)
	(head_angle HeadDirection)
	(kick KickCount)
	(dash DashCount)
	(turn TurnCount)
	(say SayCount)
	(turn_neck TurnNeckCount))

Gives the status of the player's body. The ViewQuality is one of high and low and ViewWidth is one of narrow, normal, and wide. 90 AmountOfSpeed is a rough approximation of the amount of the players' speed. HeadDirection is the relative direction of the players head. The Count variables are the total number of commands of that type executed by the server. For more information see section 3.2.3.