Document team communication

[pkok]

There is some team communication happening between the Naos. However, we don't know what is being communicated. This must be documented.

[pkok]

@pkok will help with this.

[pkok]

Update

The contents of NaoTH2011-light/NaoTHSoccer/Source/Core/Representations/Modeling/TeamMessage.h and NaoTH2011-light/Framework/NaoTH-Commons/Source/Messages/Messages.pb.h gives a good overview of what is communicated and how to use this:

• playernumber()
• teamnumber()
• positiononfield().translation().x(), positiononfield().translation().y() and positiononfield.rotation() -- own position and orientation on the field
• ballposition().x() and ballposition().y() -- ball position (probably in absolute field coordinates)
• timesinceballwasseen() -- no idea about the unit (seconds? milliseconds?)
• timetoball() -- probably how long it takes to walk to the ball; no idea about the unit
• wasstriker()
• ispenalized()
• isfallendown()
• If has_opponent(), there also is a opponent() (A ::naothmessages::PlayerModel), with number(), poseonfield().translation().x(), poseonfield().translation().y(), poseonfield().rotation(). No idea if it can only detect 1 opponent or multiple.