firevision::OmniRelative Class Reference

Omni vision relative position model. More...

#include <>>

Inheritance diagram for firevision::OmniRelative:

List of all members.

Public Member Functions
	OmniRelative (MirrorModel *mirror_model)
	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 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 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.

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Detailed Description

Omni vision relative position model.

Definition at line 40 of file omni_relative.h.

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Constructor & Destructor Documentation

firevision::OmniRelative::OmniRelative

(

MirrorModel *

mirror_model

)

Constructor.

Parameters:

mirror_model

mirror model

Definition at line 41 of file omni_relative.cpp.

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Member Function Documentation

void firevision::OmniRelative::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 167 of file omni_relative.cpp.

References firevision::MirrorModel::getWorldPointRelative(), firevision::MirrorModel::isValidPoint(), fawkes::polar_coord_2d_t::phi, and fawkes::polar_coord_2d_t::r.

void firevision::OmniRelative::calc_unfiltered

(

)

[virtual]

Calculate data unfiltered.

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

Implements firevision::RelativePositionModel.

Definition at line 195 of file omni_relative.cpp.

References firevision::MirrorModel::getWorldPointRelative(), fawkes::polar_coord_2d_t::phi, and fawkes::polar_coord_2d_t::r.

float firevision::OmniRelative::get_bearing

(

void

)

const [virtual]

Get bearing (horizontal angle) to object.

Returns:

bearing in rad

Implements firevision::RelativePositionModel.

Definition at line 82 of file omni_relative.cpp.

float firevision::OmniRelative::get_distance

(

)

const [virtual]

Get distance to object.

Returns:

distance to object in meters.

Implements firevision::RelativePositionModel.

Definition at line 75 of file omni_relative.cpp.

const char * firevision::OmniRelative::get_name

(

void

)

const [virtual]

Get name of relative position model.

Returns:

name of relative position model

Implements firevision::RelativePositionModel.

Definition at line 152 of file omni_relative.cpp.

void firevision::OmniRelative::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 146 of file omni_relative.cpp.

float firevision::OmniRelative::get_radius

(

)

const [virtual]

Get radius.

Returns:

always 0

Definition at line 133 of file omni_relative.cpp.

float firevision::OmniRelative::get_slope

(

)

const [virtual]

Get slope (vertical angle) to object.

Returns:

slope in rad

Implements firevision::RelativePositionModel.

Definition at line 89 of file omni_relative.cpp.

float firevision::OmniRelative::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 103 of file omni_relative.cpp.

float firevision::OmniRelative::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 96 of file omni_relative.cpp.

bool firevision::OmniRelative::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 188 of file omni_relative.cpp.

References firevision::MirrorModel::isValidPoint().

void firevision::OmniRelative::reset

(

)

[virtual]

Reset all data.

This must be called if the object is not visible.

Implements firevision::RelativePositionModel.

Definition at line 159 of file omni_relative.cpp.

void firevision::OmniRelative::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 118 of file omni_relative.cpp.

void firevision::OmniRelative::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 110 of file omni_relative.cpp.

void firevision::OmniRelative::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 140 of file omni_relative.cpp.

void firevision::OmniRelative::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 124 of file omni_relative.cpp.

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

• src/firevision/models/relative_position/omni_relative.h
• src/firevision/models/relative_position/omni_relative.cpp