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Zones

Zones messages provide information about parameter zones on the map.

Message Types

ParameterZone

Areas on the map that have specific parameters.

Field Message Type Description
zone_id string The ID of the zone.
points repeated Point2D Polygon defining the zone. The minimum number of points is 3.
direction_zone DirectionZone Direction zone parameters.
exclusive_zone ExclusiveZone Exclusive zone parameters.
ramp_zone RampZone Ramp zone parameters.
sound_zone SoundZone Sound zone parameters.
speed_zone SpeedZone Speed zone parameters.
JSON Example
  {
    "zoneId": "zone_001",
    "points": [
      {"x": 0.0, "y": 0.0},
      {"x": 1.0, "y": 0.0},
      {"x": 1.0, "y": 1.0},
      {"x": 0.0, "y": 1.0}
    ],
    "speedZone": {
      "maxSpeedMPerSec": 0.5
    }
  }

DirectionZone

Defines a direction vector for the zone.

Field Message Type Description
heading_radians float The direction vector's angle in radians, relative to the map's origin and measured from the x-axis.
magnitude int32 The magnitude of the direction vector. Typically set to 254 for hard direction zones. The larger the magnitude, the more the robot will try to align with the direction.
JSON Example
  {
    "headingRadians": 1.57,
    "magnitude": 254
  }

ExclusiveZone

Defines an exclusive zone that limits the number of robots.

Field Message Type Description
max_robots int32 Maximum number of robots allowed to enter the zone.
JSON Example
  {
    "maxRobots": 2
  }

RampZone

Indicates a ramp zone. No additional parameters are required.

(No fields defined)

JSON Example
  {}

SoundZone

Indicates a sound zone. No additional parameters are required.

(No fields defined)

JSON Example
  {}

SpeedZone

Defines a speed limit for the zone.

Field Message Type Description
max_speed_m_per_sec float Speed limit in the zone.
JSON Example
  {
    "maxSpeedMPerSec": 0.5
  }