World Modeling

Purpose

The world modeling module processes that data from the vision system to provide filtering and prediction for the rest of the system. The world model will effectively decouple the vision system from the rest of the system by allowing any process that needs world data (robot and ball position and velocity) to get a predicted value at any time.

Interface

Vision Side

The vision module needs to call an update function for each entity (robot or ball) on the field. Each entity has a unique identifier, and new identifiers can be added as necessary. The ball should be a negative value, while robots should be positive.

System Side