robot.table_map

Table map model for Botball field geometry.

Stores line and wall segments from the .ftmap vector format and provides spatial queries (point-on-line, point-on-wall, distance-to-nearest-line).

The coordinate system matches the Botball field: origin at bottom-left, X right, Y up, all values in centimeters.

Example usage:

from raccoon.robot.table_map import TableMap

# Load from ftmap dict (as stored in raccoon.project.yml)
table_map = TableMap.from_ftmap(config["robot"]["physical"]["table_map"])

# Load from .ftmap file
table_map = TableMap.load("config/table_map.ftmap")

# Query
table_map.is_on_line(50.0, 30.0)       # True/False
table_map.is_on_wall(0.0, 50.0)        # True/False
table_map.distance_to_nearest_line(50.0, 30.0)  # cm

Classes

MapSegment

A single line or wall segment on the field, in centimeters.

TableMap

Botball field table map with line and wall segments.

Module Contents

class robot.table_map.MapSegment

A single line or wall segment on the field, in centimeters.

start_x: float
start_y: float
end_x: float
end_y: float
width_cm: float
kind: str
property length: float
class robot.table_map.TableMap(width_cm: float, height_cm: float, segments: Sequence[MapSegment] = ())

Botball field table map with line and wall segments.

All coordinates are in centimeters with origin at bottom-left of the field.

width_cm
height_cm
property lines: List[MapSegment]
property walls: List[MapSegment]
property all_segments: List[MapSegment]
classmethod from_ftmap(data: Dict[str, Any]) → TableMap

Create a TableMap from an ftmap dict (as stored in project config).

Parameters:

data – Dict with keys format, version, table, lines.

Returns:

A populated TableMap instance.

Raises:

ValueError – If the format or version is unsupported.

classmethod load(path: str | pathlib.Path) → TableMap

Load a TableMap from a .ftmap JSON file.

Parameters:

path – Path to the .ftmap file.

Returns:

A populated TableMap instance.

to_ftmap() → Dict[str, Any]

Serialize this TableMap back to the ftmap dict format.

distance_to_nearest_line(x_cm: float, y_cm: float) → float

Shortest distance from a point to any line segment centerline.

Parameters:

  • x_cm – X position on field (cm from left).

  • y_cm – Y position on field (cm from bottom).

Returns:

Distance in cm, or float('inf') if there are no lines.

distance_to_nearest_wall(x_cm: float, y_cm: float) → float

Shortest distance from a point to any wall segment centerline.

Parameters:

  • x_cm – X position on field (cm from left).

  • y_cm – Y position on field (cm from bottom).

Returns:

Distance in cm, or float('inf') if there are no walls.

is_on_line(x_cm: float, y_cm: float) → bool

Check if a point is within any line segment’s width.

A point is “on” a line if its perpendicular distance to the segment centerline is less than half the line’s width.

Parameters:

  • x_cm – X position on field (cm from left).

  • y_cm – Y position on field (cm from bottom).

Returns:

True if the point overlaps a line.

is_on_wall(x_cm: float, y_cm: float) → bool

Check if a point is within any wall segment’s width.

Parameters:

  • x_cm – X position on field (cm from left).

  • y_cm – Y position on field (cm from bottom).

Returns:

True if the point overlaps a wall.

sensor_field_position(robot_x_cm: float, robot_y_cm: float, robot_heading_rad: float, sensor: raccoon.robot.geometry.SensorPosition) → tuple[float, float]

Compute the field position of a sensor given robot pose.

The robot pose is in field coordinates (origin bottom-left, heading 0 = +X, CCW positive). The sensor position is in robot-relative coordinates (forward/strafe from geometric center).

Parameters:

  • robot_x_cm – Robot center X on field (cm).

  • robot_y_cm – Robot center Y on field (cm).

  • robot_heading_rad – Robot heading (radians, 0 = +X, CCW positive).

  • sensor – SensorPosition with forward_cm and strafe_cm offsets.

Returns:

Tuple of (field_x_cm, field_y_cm) for the sensor.

sensor_is_on_line(robot_x_cm: float, robot_y_cm: float, robot_heading_rad: float, sensor: raccoon.robot.geometry.SensorPosition) → bool

Check if a sensor would be over a black line given current robot pose.

Parameters:

  • robot_x_cm – Robot center X on field (cm).

  • robot_y_cm – Robot center Y on field (cm).

  • robot_heading_rad – Robot heading (radians).

  • sensor – SensorPosition offset from robot center.

Returns:

True if the sensor’s field position overlaps a line.

sensor_is_on_wall(robot_x_cm: float, robot_y_cm: float, robot_heading_rad: float, sensor: raccoon.robot.geometry.SensorPosition) → bool

Check if a sensor would be over a wall given current robot pose.

Parameters:

  • robot_x_cm – Robot center X on field (cm).

  • robot_y_cm – Robot center Y on field (cm).

  • robot_heading_rad – Robot heading (radians).

  • sensor – SensorPosition offset from robot center.

Returns:

True if the sensor’s field position overlaps a wall.