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filtered_ball_data.velocity.y();\n+\n+    ball_msg.timestamp_microseconds =\n+        Timestamp::getMicroseconds(filtered_ball_data.timestamp);\n \n     return ball_msg;\n }\n \n-thunderbots_msgs::Robot VisionUtil::createRobotMsg(const FilteredRobotData &robot_data)\n+thunderbots_msgs::Robot MessageUtil::createRobotMsg(\n+    const FilteredRobotData &filtered_robot_data)\n {\n     thunderbots_msgs::Robot robot_msg;\n \n-    robot_msg.id = robot_data.id;\n+    robot_msg.id = filtered_robot_data.id;\n+\n+    robot_msg.position.x = filtered_robot_data.position.x();\n+    robot_msg.position.y = filtered_robot_data.position.y();\n \n-    robot_msg.position.x = robot_data.position.x();\n-    robot_msg.position.y = robot_data.position.y();\n+    robot_msg.velocity.x = filtered_robot_data.velocity.x();\n+    robot_msg.velocity.y = filtered_robot_data.velocity.y();\n \n-    robot_msg.velocity.x = robot_data.velocity.x();\n-    robot_msg.velocity.y = robot_data.velocity.y();\n+    robot_msg.orientation = filtered_robot_data.orientation.toRadians();\n \n-    robot_msg.orientation = robot_data.orientation.toRadians();\n+    robot_msg.timestamp_microseconds =\n+        Timestamp::getMicroseconds(filtered_robot_data.timestamp);\n \n     return robot_msg;\n }\n \n-thunderbots_msgs::Team VisionUtil::createTeamMsg(\n-    const std::vector<FilteredRobotData> &team_data)\n+thunderbots_msgs::Team MessageUtil::createTeamMsg(\n+    const std::vector<FilteredRobotData> &filtered_team_data)\n {\n     thunderbots_msgs::Team team_msg;\n     team_msg.robots.clear();","path":"src/thunderbots/software/backend_input/message_util.cpp","position":70,"original_position":70,"commit_id":"ea4bb1129c7522c3f4ae0c7e24c187a30b25ae86","original_commit_id":"ea4bb1129c7522c3f4ae0c7e24c187a30b25ae86","user":{"login":"MathewMacDougall","id":21165407,"node_id":"MDQ6VXNlcjIxMTY1NDA3","avatar_url":"https://avatars0.githubusercontent.com/u/21165407?v=4","gravatar_id":"","url":"https://api.github.com/users/MathewMacDougall","html_url":"https://github.com/MathewMacDougall","followers_url":"https://api.github.com/users/MathewMacDougall/followers","following_url":"https://api.github.com/users/MathewMacDougall/following{/other_user}","gists_url":"https://api.github.com/users/MathewMacDougall/gists{/gist_id}","starred_url":"https://api.github.com/users/MathewMacDougall/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MathewMacDougall/subscriptions","organizations_url":"https://api.github.com/users/MathewMacDougall/orgs","repos_url":"https://api.github.com/users/MathewMacDougall/repos","events_url":"https://api.github.com/users/MathewMacDougall/events{/privacy}","received_events_url":"https://api.github.com/users/MathewMacDougall/received_events","type":"User","site_admin":false},"body":"It should be I think I was just being extra explicit while testing this initially.","created_at":"2018-08-05T06:02:22Z","updated_at":"2018-08-05T06:02:22Z","html_url":"https://github.com/UBC-Thunderbots/Software/pull/18#discussion_r207726147","pull_request_url":"https://api.github.com/repos/UBC-Thunderbots/Software/pulls/18","author_association":"CONTRIBUTOR","_links":{"self":{"href":"https://api.github.com/repos/UBC-Thunderbots/Software/pulls/comments/207726147"},"html":{"href":"https://github.com/UBC-Thunderbots/Software/pull/18#discussion_r207726147"},"pull_request":{"href":"https://api.github.com/repos/UBC-Thunderbots/Software/pulls/18"}},"in_reply_to_id":207722750},"pull_request":{"url":"https://api.github.com/repos/UBC-Thunderbots/Software/pulls/18","id":206207933,"node_id":"MDExOlB1bGxSZXF1ZXN0MjA2MjA3OTMz","html_url":"https://github.com/UBC-Thunderbots/Software/pull/18","diff_url":"https://github.com/UBC-Thunderbots/Software/pull/18.diff","patch_url":"https://github.com/UBC-Thunderbots/Software/pull/18.patch","issue_url":"https://api.github.com/repos/UBC-Thunderbots/Software/issues/18","number":18,"state":"open","locked":false,"title":"Finalize 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The first two commits deal with all the file moves and renames, so all the important stuff is in the third commit and later. It is easiest to view by viewing one commit at a time.\r\n\r\nresolves #8 and #6 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