Raytraced beams scanline model. More...
#include <>>
Public Member Functions | |
| ScanlineBeams (unsigned int image_width, unsigned int image_height, unsigned int start_x, unsigned int start_y, unsigned int stop_y, unsigned int offset_y, bool distribute_start_x, float angle_from, float angle_range, unsigned int num_beams) | |
| Construtor. | |
| fawkes::point_t | operator* () |
| Get the current coordinate. | |
| fawkes::point_t * | operator-> () |
| Get pointer to current point. | |
| fawkes::point_t * | operator++ () |
| Postfix ++ operator. | |
| fawkes::point_t * | operator++ (int) |
| Prefix ++ operator. | |
| bool | finished () |
| Check if all desired points have been processed. | |
| void | reset () |
| Reset model. | |
| const char * | get_name () |
| Get name of scanline model. | |
| unsigned int | get_margin () |
| Get margin around points. | |
| virtual void | set_robot_pose (float x, float y, float ori) |
| Set the robot's pose. | |
| virtual void | set_pan_tilt (float pan, float tilt) |
| Set camera's pan/tilt values. | |
Detailed Description
Raytraced beams scanline model.
This model uses a defined number of beams shot from the bottom of the image towards the top using Bresenham. With this you can have kind of a radar-like scanline model. Additionally the starting points at the bottom can be distributed over the full width of the image which alles for a scan aligned to the image.
To ease the calculation of the finished state the very last point is traversed twice.
Definition at line 37 of file beams.h.
Constructor & Destructor Documentation
| firevision::ScanlineBeams::ScanlineBeams | ( | unsigned int | image_width, | |
| unsigned int | image_height, | |||
| unsigned int | start_x, | |||
| unsigned int | start_y, | |||
| unsigned int | stop_y, | |||
| unsigned int | offset_y, | |||
| bool | distribute_start_x, | |||
| float | angle_from, | |||
| float | angle_range, | |||
| unsigned int | num_beams | |||
| ) |
Construtor.
- Parameters:
-
image_width image width image_height image height start_x x coordinate of the starting point, ignored if distributed (see below) start_y y coordinate of the starting point, this is the lowest points of the the lines and should thus be close to the bottom of the image stop_y Y coordinate for stopping the traversal offset_y number of pixel to advance in Y-direction per iteration distribute_start_x set to true, to distribute the start x coordinates equidistant over the whole width of the image. angle_from angle to start the scan at, a straight vertical line means zero rad, clock-wise positive, in radians angle_range the range to use to distribute the beams, clockwise positive, in radians num_beams number of beams to use
- Exceptions:
-
Exception thrown if parameters are out of bounds
Definition at line 67 of file beams.cpp.
References reset().
Member Function Documentation
| bool firevision::ScanlineBeams::finished | ( | ) | [virtual] |
Check if all desired points have been processed.
- Returns:
- true if all pixels that the model defines have been iterated.
Implements firevision::ScanlineModel.
| unsigned int firevision::ScanlineBeams::get_margin | ( | ) | [virtual] |
Get margin around points.
Models that do not use margins shall return zero. It shall be guaranteed that in this margin region around a point there is no other point that has been or will be returned in a full iteration.
- Returns:
- margin around a point.
Implements firevision::ScanlineModel.
| const char * firevision::ScanlineBeams::get_name | ( | ) | [virtual] |
| point_t firevision::ScanlineBeams::operator* | ( | ) | [virtual] |
Get the current coordinate.
- Returns:
- current point in image that is shall be processed.
Implements firevision::ScanlineModel.
| point_t * firevision::ScanlineBeams::operator++ | ( | int | ) | [virtual] |
Prefix ++ operator.
Advances to the next point but returns the old point.
- Returns:
- pointer to next point
Implements firevision::ScanlineModel.
Definition at line 214 of file beams.cpp.
References fawkes::point_t::x, and fawkes::point_t::y.
| point_t * firevision::ScanlineBeams::operator++ | ( | ) | [virtual] |
Postfix ++ operator.
Advances to the next point and returns the new point.
- Returns:
- pointer to new point
Implements firevision::ScanlineModel.
| point_t * firevision::ScanlineBeams::operator-> | ( | ) | [virtual] |
Get pointer to current point.
- Returns:
- pointer to current point
- See also:
- operator*()
Implements firevision::ScanlineModel.
| void firevision::ScanlineBeams::reset | ( | ) | [virtual] |
Reset model.
Resets the set of processed points.
Implements firevision::ScanlineModel.
Definition at line 224 of file beams.cpp.
References fawkes::point_t::x, and fawkes::point_t::y.
Referenced by ScanlineBeams().
| virtual void firevision::ScanlineBeams::set_pan_tilt | ( | float | pan, | |
| float | tilt | |||
| ) | [inline, virtual] |
Set camera's pan/tilt values.
- Parameters:
-
pan camera's current pan tilt camera's current tilt
Implements firevision::ScanlineModel.
| virtual void firevision::ScanlineBeams::set_robot_pose | ( | float | x, | |
| float | y, | |||
| float | ori | |||
| ) | [inline, virtual] |
Set the robot's pose.
- Parameters:
-
x robot's x coordinate on field in meters y robot's y coordinate on field in meters ori robot's orientation. Looking towards the opponent goal is zero rad, with positive values pointing to the right, negative to the left.
Implements firevision::ScanlineModel.
The documentation for this class was generated from the following files:
