Arbiter

The arbiter functions in the FIRASim is capable of recognizing the following game situation:

• Penalty: If two players of the same team and the ball are inside the defense area.
• AttackFault: If two playes of the same team and the ball are inside the attack area (There is a boolean enabling this option).
• Goal: If the ball are inside the goal of one of the teams.
• Fault by timeout: If the ball doesn't move for more than 10 seconds.
• Timeout: If the game time cross the limit of 5 minutes.

The following replacement of the ball and robots may happen in 2 ways:

• Random: The ball and the players are distributed randomly on the field. This mode is activated by the bool RandomStart.
• Deterministic: The players and the ball are distributed in specific places given the game event (Fault, penalty, goal...).