├── .gitignore ├── .gitmodules ├── COPYING ├── COPYING.LESSER ├── Doxyfile ├── Makefile ├── Man.cpp ├── Man.h ├── README.txt ├── TMan.cpp ├── TMan.h ├── TODO.org ├── TTMan.cpp ├── TTMan.h ├── __init__.py ├── cmake.man ├── CMakeLists.txt ├── buildconfig.cmake ├── manconfig.in ├── nameconfig.in └── upload.sh.in ├── cmake ├── FindALCOMMON.cmake ├── FindBOOST_PYTHON.cmake ├── FindBOOST_SIGNALS.cmake ├── FindFINK.cmake ├── FindNBCOMMON.cmake ├── FindPTHREAD.cmake ├── FindPYTHON.cmake ├── FindWEBOTS.cmake ├── base_definitions.cmake ├── geode.cmake └── proxies.cmake ├── comm ├── Comm.cpp ├── Comm.h ├── CommTimer.cpp ├── CommTimer.h ├── DataSerializer.cpp ├── DataSerializer.h ├── GameController.cpp ├── GameController.h ├── GameControllerConfig.h ├── Makefile ├── RoboCupGameControlData.h ├── TOOLConnect.cpp ├── TOOLConnect.h ├── __init__.py └── cmake.comm │ ├── CMakeLists.txt │ ├── buildconfig.cmake │ └── commconfig.in ├── corpus ├── ALEnactor.cpp ├── ALEnactor.h ├── ALImageTranscriber.cpp ├── ALImageTranscriber.h ├── ALTranscriber.cpp ├── ALTranscriber.h ├── AccEKF.cpp ├── AccEKF.h ├── AngleEKF.cpp ├── AngleEKF.h ├── COMKinematics.cpp ├── COMKinematics.h ├── ClickableButton.cpp ├── ClickableButton.h ├── CoordFrame.h ├── CoordFrame3D.cpp ├── CoordFrame4D.cpp ├── ImageSubscriber.h ├── ImageTranscriber.h ├── InverseKinematics.cpp ├── InverseKinematics.h ├── Kinematics.h ├── Lights.cpp ├── Lights.h ├── Makefile ├── MotionEnactor.h ├── NaoEnactor.cpp ├── NaoEnactor.h ├── NaoLights.cpp ├── NaoLights.h ├── NaoPose.cpp ├── NaoPose.h ├── NaoRGBLight.cpp ├── NaoRGBLight.h ├── OldInverseKinematics.cpp ├── PyLights.cpp ├── PyLights.h ├── PyRoboGuardian.cpp ├── PyRoboGuardian.h ├── PySensors.cpp ├── PySensors.h ├── RoboGuardian.cpp ├── RoboGuardian.h ├── Sensors.cpp ├── Sensors.h ├── ThreadedImageTranscriber.h ├── ThreadedMotionEnactor.h ├── Transcriber.h ├── WBEnactor.cpp ├── WBEnactor.h ├── WBImageTranscriber.cpp ├── WBImageTranscriber.h ├── WBLights.h ├── WBTranscriber.cpp ├── WBTranscriber.h ├── __init__.py ├── _synchromodule.cpp ├── _synchromodule.h ├── cmake.man.corpus │ ├── CMakeLists.txt │ ├── buildconfig.cmake │ └── corpusconfig.h.in ├── isynchro.py ├── ktest │ ├── .gitignore │ ├── COM.cpp │ ├── Makefile │ └── main.cpp ├── leds.py ├── messaging.cpp ├── messaging.h ├── sensors.py ├── synchro.cpp ├── synchro.h └── synchro.py ├── frames ├── .gitignore ├── grab └── sync ├── include ├── ALLedNames.h ├── ALNames.h ├── AiboConnect.h ├── BasicWorldConstants.h ├── CommDef.h ├── Common.h ├── CortexDef.h ├── EKFStructs.h ├── FieldConstants.h ├── LineDef.h ├── MotionDef.h ├── NBMath.cpp ├── NBMath.h ├── NBMatrixMath.cpp ├── NBMatrixMath.h ├── NaoDef.h ├── SensorDef.h ├── Structs.h ├── VisionDef.h ├── WBNames.h ├── _socketmodule.h ├── debug.h └── socket.h ├── manmodule.cpp ├── manmodule.h ├── motion ├── AbstractGait.cpp ├── AbstractGait.h ├── BaseFreezeCommand.cpp ├── BaseFreezeCommand.h ├── BodyJointCommand.cpp ├── BodyJointCommand.h ├── ChainQueue.cpp ├── ChainQueue.h ├── ChopShop.cpp ├── ChopShop.h ├── ChoppedCommand.cpp ├── ChoppedCommand.h ├── CoordHeadCommand.h ├── FreezeCommand.h ├── Gait.cpp ├── Gait.h ├── GaitCommand.h ├── GaitConstants.h ├── HeadJointCommand.cpp ├── HeadJointCommand.h ├── HeadMoves.py ├── HeadProvider.cpp ├── HeadProvider.h ├── JointCommand.h ├── LinearChoppedCommand.cpp ├── LinearChoppedCommand.h ├── Makefile ├── MetaGait.cpp ├── MetaGait.h ├── Motion.cpp ├── Motion.h ├── MotionCommand.h ├── MotionConstants.h ├── MotionConstants.py ├── MotionInterface.cpp ├── MotionInterface.h ├── MotionProvider.h ├── MotionSwitchboard.cpp ├── MotionSwitchboard.h ├── NullBodyProvider.h ├── NullHeadProvider.h ├── NullProvider.cpp ├── NullProvider.h ├── Observer.cpp ├── Observer.h ├── PreviewController.cpp ├── PreviewController.h ├── PyMotion.cpp ├── PyMotion.h ├── README.tex ├── RobotGaits.py ├── ScriptedProvider.cpp ├── ScriptedProvider.h ├── SensorAngles.cpp ├── SensorAngles.h ├── SetHeadCommand.h ├── SmoothChoppedCommand.cpp ├── SmoothChoppedCommand.h ├── SpringSensor.cpp ├── SpringSensor.h ├── Step.cpp ├── Step.h ├── StepCommand.h ├── StepGenerator.cpp ├── StepGenerator.h ├── StiffnessModes.py ├── SweetMoves.py ├── UnfreezeCommand.h ├── WalkCommand.h ├── WalkController.h ├── WalkProvider.cpp ├── WalkProvider.h ├── WalkingArm.cpp ├── WalkingArm.h ├── WalkingConstants.h ├── WalkingLeg.cpp ├── WalkingLeg.h ├── ZmpAccEKF.cpp ├── ZmpAccEKF.h ├── ZmpEKF.cpp ├── ZmpEKF.h ├── __init__.py ├── cmake.man.motion │ ├── CMakeLists.txt │ ├── buildconfig.cmake │ └── motionconfig.in ├── debug │ ├── .gitignore │ ├── Makefile │ ├── accel │ │ ├── .gitignore │ │ ├── AccEKF.cpp │ │ ├── Makefile │ │ ├── README │ │ ├── ZmpAccEKF.cpp │ │ ├── ZmpEKF.cpp │ │ ├── accel.R │ │ ├── test.cpp │ │ ├── zmp_log.R │ │ └── zmpaccel.R │ ├── com_f_log.R │ ├── com_log.R │ ├── dest_log.R │ ├── effector_log.R │ ├── gains_log.R │ ├── joints_log.R │ ├── locus_log.R │ ├── sensor_log.R │ ├── sensor_zmp.R │ └── stiff_log.R ├── gaits │ ├── ComGait.py │ ├── DuckGait.py │ ├── FastGait.py │ ├── GaitConstants.py │ ├── LabGait.py │ ├── MedGait.py │ ├── SlowGait.py │ ├── WebotsGait.py │ ├── ZaphodSlowGait.py │ ├── __init__.py │ └── unused.py ├── mathematica │ ├── COMKinematics.nb │ ├── LeftCOMResult.nb │ ├── README │ ├── completeKinematics.nb │ ├── convert-to-cxx.el │ ├── leftLegIKResults.nb │ ├── newKinematics.nb │ └── rightLegIKResults.nb ├── nao-motion.dia ├── octave │ ├── observer.m │ ├── obsplot.m │ └── setupobserver.m └── switchmovesscript.py ├── nao_soccer_player.cpp ├── noggin ├── BallEKF.cpp ├── BallEKF.h ├── Brain.py ├── EKF.h ├── FallController.py ├── FallStates.py ├── GameController.py ├── GameStates.py ├── Leds.py ├── LocEKF.cpp ├── LocEKF.h ├── LocSystem.h ├── MCL.cpp ├── MCL.h ├── Makefile ├── Noggin.cpp ├── Noggin.h ├── NogginConstants.py ├── NogginStructs.h ├── Observation.cpp ├── Observation.h ├── PyLoc.cpp ├── PyLoc.h ├── README ├── __init__.py ├── cmake.noggin │ ├── CMakeLists.txt │ ├── Switch.py.in │ ├── TeamConfig.py.in │ ├── WebotsConfig.py.in │ ├── buildconfig.cmake │ └── nogginconfig.in ├── headTracking │ ├── ActiveLookStates.py │ ├── BasicStates.py │ ├── HeadTracking.py │ ├── HeadTrackingHelper.py │ ├── PanningStates.py │ ├── TrackingConstants.py │ ├── TrackingStates.py │ └── __init__.py ├── navigator │ ├── ChaseStates.py │ ├── NavConstants.py │ ├── NavHelper.py │ ├── NavMath.py │ ├── NavStates.py │ ├── Navigator.py │ ├── PlaybookPositionStates.py │ └── __init__.py ├── offline │ ├── LocLogFaker.cpp │ ├── Makefile │ ├── NavStructs.h │ ├── README │ ├── accuracyVsNoise.R │ ├── basicData.r │ ├── convertRobotLog.cpp │ ├── fakerIO.cpp │ ├── fakerIO.h │ ├── fakerIterators.cpp │ ├── fakerIterators.h │ ├── mclTest.cpp │ ├── navToObs.cpp │ ├── noiseVaccuracy.cpp │ └── obsToLoc.cpp ├── playbook │ ├── Formations.py │ ├── GoTeam.py │ ├── PBConstants.py │ ├── PBInterface.py │ ├── Roles.py │ ├── Strategies.py │ ├── SubRoles.py │ └── __init__.py ├── players │ ├── BrunswickSpeeds.py │ ├── BrunswickStates.py │ ├── ChaseBallConstants.py │ ├── ChaseBallStates.py │ ├── ChaseBallTransitions.py │ ├── CoreSoccerStates.py │ ├── DataStates.py │ ├── FindBallStates.py │ ├── GoToStates.py │ ├── GoalieConstants.py │ ├── GoaliePositionStates.py │ ├── GoalieSaveStates.py │ ├── GoalieTransitions.py │ ├── KickerStates.py │ ├── KickingConstants.py │ ├── KickingHelpers.py │ ├── KickingStates.py │ ├── MakeKickStates.py │ ├── MotionStates.py │ ├── NoneStates.py │ ├── PenaltyKickStates.py │ ├── PositionConstants.py │ ├── PositionStates.py │ ├── PositionTransitions.py │ ├── SnapshotStates.py │ ├── SoccerFSA.py │ ├── SweetStates.py │ ├── TestLookToStates.py │ ├── WalkTestStates.py │ ├── __init__.py │ ├── pBrunswick.py │ ├── pData.py │ ├── pGoTo.py │ ├── pKicker.py │ ├── pMakeKick.py │ ├── pMotion.py │ ├── pNone.py │ ├── pSnapshot.py │ ├── pSweet.py │ ├── pTestLookTo.py │ └── pWalkUnitTest.py ├── robots │ ├── BirthCertificate.py │ └── __init__.py ├── typeDefs │ ├── Ball.py │ ├── Landmarks.py │ ├── Location.py │ ├── MyInfo.py │ ├── Packet.py │ ├── Play.py │ ├── Sonar.py │ ├── TeamMember.py │ ├── VisualObject.py │ └── __init__.py └── util │ ├── FSA.py │ ├── Matrix.py │ ├── MyMath.py │ ├── NaoOutput.py │ ├── __init__.py │ ├── autowrap.py │ └── module_helper.py ├── scripts └── setup-autologin ├── searchman ├── tables ├── .gitignore └── sync └── vision ├── Ball.cpp ├── Ball.h ├── Blob.cpp ├── Blob.h ├── Blobs.cpp ├── Blobs.h ├── ConcreteCorner.cpp ├── ConcreteCorner.h ├── ConcreteCross.cpp ├── ConcreteCross.h ├── ConcreteFieldObject.cpp ├── ConcreteFieldObject.h ├── ConcreteLandmark.cpp ├── ConcreteLandmark.h ├── ConcreteLine.cpp ├── ConcreteLine.h ├── Cross.cpp ├── Cross.h ├── Field.cpp ├── Field.h ├── FieldLines.cpp ├── FieldLines.h ├── Makefile ├── ObjectFragments.cpp ├── ObjectFragments.h ├── Profiler.cpp ├── Profiler.h ├── PyVision.cpp ├── PyVision.h ├── README.txt ├── Robots.cpp ├── Robots.h ├── Threshold.cpp ├── Threshold.h ├── Utility.cpp ├── Utility.h ├── Vision.cpp ├── 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