Moved the goal detector to the correct folder
Started working on the ball detector
Working ball detection using ransac
Cleaning up some code
Added the empty obstacle detector, and added some todos to the LUTClassifier
make headpan on lost ball smarter.
Added a file for the start of work on vison kinematics
Starting to split up the LUTClassifier into multiple files as it was getting pretty huge
Possibly split the classifier into multiple files (it now compiles)
Fixes to the code and the addition of a possibly working goal base finder
This is probably better?
Added ball width distance calculaor. Bad goal calculator included for distant goals
Fixed the code to be in the same state as it was before the refactor
Added in the start of the vertical lines for the goal (for use with d2p) Still need to cast additional lines around the primary
Finished implelmenting the goal base finder
Added some new nice vision kinematics. Seems to be working bar one segfault, which may be externally caused
Fixed segfault. Changed variable name :effectiveScreenDistancePixels |--> focalLengthPixels
Removed printouts
Fixed the ball detector rhs bug
Actually fixed the bug this time