Relative ball position model for front vision. More...

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Inheritance diagram for firevision::FrontBallRelativePos:

Public Member Functions
	FrontBallRelativePos (unsigned int image_width, unsigned int image_height, float camera_height, float camera_offset_x, float camera_offset_y, float camera_ori, float horizontal_angle, float vertical_angle, float ball_circumference)
	Constructor.
virtual const char *	get_name () const
	Get name of relative position model.
virtual void	set_radius (float r)
	Set radius of a found circle.
virtual void	set_center (float x, float y)
	Set center of a found circle.
virtual void	set_center (const center_in_roi_t &c)
	Set center of a found circle.
virtual void	set_pan_tilt (float pan=0.0f, float tilt=0.0f)
	Set camera pan and tilt.
virtual void	get_pan_tilt (float pan, float tilt) const
	Get camera pan tilt.
virtual void	set_horizontal_angle (float angle_deg)
	Set horizontal viewing angle.
virtual void	set_vertical_angle (float angle_deg)
	Set vertical viewing angle.
virtual float	get_distance () const
	Get distance to object.
virtual float	get_x () const
	Get relative X coordinate of object.
virtual float	get_y () const
	Get relative Y coordinate of object.
virtual float	get_bearing () const
	Get bearing (horizontal angle) to object.
virtual float	get_slope () const
	Get slope (vertical angle) to object.
virtual float	get_radius () const
	Get the ball radius.
virtual void	calc ()
	Calculate position data.
virtual void	calc_unfiltered ()
	Calculate data unfiltered.
virtual void	reset ()
	Reset all data.
virtual bool	is_pos_valid () const
	Check if position is valid.

Detailed Description

Relative ball position model for front vision.

Definition at line 39 of file front_ball.h.

Constructor & Destructor Documentation

firevision::FrontBallRelativePos::FrontBallRelativePos	(	unsigned int	image_width,
		unsigned int	image_height,
		float	camera_height,
		float	camera_offset_x,
		float	camera_offset_y,
		float	camera_ori,
		float	horizontal_angle,
		float	vertical_angle,
		float	ball_circumference
	)

Constructor.

Parameters:

	image_width	width of image in pixels
	image_height	height of image in pixels
	camera_height	height of camera in meters
	camera_offset_x	camera offset of the motor axis in x direction
	camera_offset_y	camera offset of the motor axis in y direction
	camera_ori	camera orientation compared to the robot
	horizontal_angle	horizontal viewing angle (in degree)
	vertical_angle	vertical viewing angle (in degree)
	ball_circumference	ball circumference

Definition at line 55 of file front_ball.cpp.

References fawkes::deg2rad(), firevision::center_in_roi_t::x, and firevision::center_in_roi_t::y.

Member Function Documentation

void firevision::FrontBallRelativePos::calc ( ) [virtual]

Calculate position data.

Call this method if all relevant data (set(Radius|Center|PanTilt)) has been set, after this valid data can be retrieved via get*

Implements firevision::RelativePositionModel.

Definition at line 236 of file front_ball.cpp.

References firevision::center_in_roi_t::x, and firevision::center_in_roi_t::y.

void firevision::FrontBallRelativePos::calc_unfiltered ( ) [virtual]

Calculate data unfiltered.

Same as calc(), but without any filtering (i.e. no Kalman filter).

Implements firevision::RelativePositionModel.

Definition at line 290 of file front_ball.cpp.

References firevision::center_in_roi_t::x, and firevision::center_in_roi_t::y.

float firevision::FrontBallRelativePos::get_bearing ( void ) const [virtual]

Get bearing (horizontal angle) to object.

Returns:: bearing in rad

Implements firevision::RelativePositionModel.

Definition at line 125 of file front_ball.cpp.

float firevision::FrontBallRelativePos::get_distance ( ) const [virtual]

Get distance to object.

Returns:: distance to object in meters.

Implements firevision::RelativePositionModel.

Definition at line 118 of file front_ball.cpp.

const char * firevision::FrontBallRelativePos::get_name ( void ) const [virtual]

Get name of relative position model.

Returns:: name of relative position model

Implements firevision::RelativePositionModel.

Definition at line 202 of file front_ball.cpp.

void firevision::FrontBallRelativePos::get_pan_tilt	(	float *	pan,
		float *	tilt
	)			const `[virtual]`

Get camera pan tilt.

Parameters:

	pan	contains pan value (rad) upon return
	tilt	contains tilt value (rad) upon return

Implements firevision::RelativePositionModel.

Definition at line 194 of file front_ball.cpp.

float firevision::FrontBallRelativePos::get_radius ( ) const [virtual]

Get the ball radius.

Returns:: ball radius

Definition at line 179 of file front_ball.cpp.

float firevision::FrontBallRelativePos::get_slope ( ) const [virtual]

Get slope (vertical angle) to object.

Returns:: slope in rad

Implements firevision::RelativePositionModel.

Definition at line 132 of file front_ball.cpp.

float firevision::FrontBallRelativePos::get_x ( void ) const [virtual]

Get relative X coordinate of object.

Returns:: relative X coordinate in local metric cartesian coordinate system

Implements firevision::RelativePositionModel.

Definition at line 146 of file front_ball.cpp.

float firevision::FrontBallRelativePos::get_y ( void ) const [virtual]

Get relative Y coordinate of object.

Returns:: relative Y coordinate in local metric cartesian coordinate system

Implements firevision::RelativePositionModel.

Definition at line 139 of file front_ball.cpp.

bool firevision::FrontBallRelativePos::is_pos_valid ( ) const [virtual]

Check if position is valid.

Returns:: true, if the calculated position is valid, false otherwise

Author:: Tim Niemueller

Implements firevision::RelativePositionModel.

Definition at line 283 of file front_ball.cpp.

void firevision::FrontBallRelativePos::reset ( ) [virtual]

Reset all data.

This must be called if the object is not visible.

Implements firevision::RelativePositionModel.

Definition at line 229 of file front_ball.cpp.

void firevision::FrontBallRelativePos::set_center ( const center_in_roi_t & c ) [virtual]

Set center of a found circle.

This is especially used for ball position implementations.

Parameters:

c

center

Implements firevision::RelativePositionModel.

Definition at line 161 of file front_ball.cpp.

References firevision::center_in_roi_t::x, and firevision::center_in_roi_t::y.

void firevision::FrontBallRelativePos::set_center	(	float	x,
		float	y
	)			`[virtual]`

Set center of a found circle.

This is especially used for ball position implementations.

Parameters:

	x	x position in image (pixels)
	y	y position in image (pixels)

Implements firevision::RelativePositionModel.

Definition at line 153 of file front_ball.cpp.

References firevision::center_in_roi_t::x, and firevision::center_in_roi_t::y.

void firevision::FrontBallRelativePos::set_horizontal_angle ( float angle_deg ) [virtual]

Set horizontal viewing angle.

Parameters:

angle_deg

horizontal viewing angle in degree

Definition at line 212 of file front_ball.cpp.

References fawkes::deg2rad().

void firevision::FrontBallRelativePos::set_pan_tilt	(	float	pan = `0.0f`,
		float	tilt = `0.0f`
	)			`[virtual]`

Set camera pan and tilt.

Parameters:

	pan	pan value (rad)
	tilt	tilt value (rad)

Implements firevision::RelativePositionModel.

Definition at line 186 of file front_ball.cpp.

void firevision::FrontBallRelativePos::set_radius ( float r ) [virtual]

Set radius of a found circle.

This is especially used for ball position implementations.

Parameters:

r

radius

Implements firevision::RelativePositionModel.

Definition at line 169 of file front_ball.cpp.

void firevision::FrontBallRelativePos::set_vertical_angle ( float angle_deg ) [virtual]

Set vertical viewing angle.

Parameters:

angle_deg

horizontal viewing angle in degree

Definition at line 222 of file front_ball.cpp.

References fawkes::deg2rad().

The documentation for this class was generated from the following files:

src/firevision/models/relative_position/front_ball.h
src/firevision/models/relative_position/front_ball.cpp

firevision::FrontBallRelativePos Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation