Velocity model interface. More...

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Inheritance diagram for firevision::VelocityModel:

Public Member Functions
virtual	~VelocityModel ()
	Virtual empty destructor.
virtual const char *	getName () const =0
	Get name of velocity model.
virtual void	setPanTilt (float pan, float tilt)=0
	Set pan and tilt.
virtual void	setRobotPosition (float x, float y, float ori, timeval t)=0
	Set robot position.
virtual void	setRobotVelocity (float vel_x, float vel_y, timeval t)=0
	Set robot velocity.
virtual void	setTime (timeval t)=0
	Set current time.
virtual void	setTimeNow ()=0
	Get current time from system.
virtual void	getTime (long int sec, long int usec)=0
	Get time from velocity.
virtual void	getVelocity (float vel_x, float vel_y)=0
	Method to retrieve velocity information.
virtual float	getVelocityX ()=0
	Get velocity of tracked object in X direction.
virtual float	getVelocityY ()=0
	Get velocity of tracked object in X direction.
virtual void	calc ()=0
	Calculate velocity values from given data This method must be called after all relevent data (set*) has been set.
virtual void	reset ()=0
	Reset velocity model Must be called if ball is not visible at any time.
virtual coordsys_type_t	getCoordinateSystem ()=0
	Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or COORDSYS_ROBOT_WORLD.

Detailed Description

Velocity model interface.

Definition at line 35 of file velocitymodel.h.

Constructor & Destructor Documentation

firevision::VelocityModel::~VelocityModel ( ) [virtual]

Virtual empty destructor.

Definition at line 101 of file velocitymodel.cpp.

Member Function Documentation

void firevision::VelocityModel::calc ( ) [pure virtual]

Calculate velocity values from given data This method must be called after all relevent data (set*) has been set.

After calc() the velocity values can be retrieved

Implemented in firevision::VelocityGlobalFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityFromRelative.

coordsys_type_t firevision::VelocityModel::getCoordinateSystem ( ) [pure virtual]

Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or COORDSYS_ROBOT_WORLD.

ROBOT denotes velocities relative to the robot (which can be tramsformed to global velocities by: glob_vel_x = rel_vel_x * cos( robot_ori ) - rel_vel_y * sin( robot_ori ) WORLD denotes velocities in the robot coordinate system glob_vel_y = rel_vel_x * sin( robot_ori ) + rel_vel_y * cos( robot_ori )

Returns:: coordinate system type

ROBOT denotes velocities relative to the robot (which can be tramsformed to global velocities by: glob_vel_x = rel_vel_x * cos( robot_ori ) - rel_vel_y * sin( robot_ori ) WORLD denotes velocities in the robot coordinate system glob_vel_y = rel_vel_x * sin( robot_ori ) + rel_vel_y * cos( robot_ori )

Implemented in firevision::VelocityGlobalFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityFromRelative.

Referenced by firevision::VelocityGlobalFromRelative::VelocityGlobalFromRelative().

const char * firevision::VelocityModel::getName ( void ) const [pure virtual]

Get name of velocity model.

Returns:: name of velocity model

Implemented in firevision::VelocityGlobalFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityFromRelative.

void firevision::VelocityModel::getTime	(	long int *	sec,
		long int *	usec
	)			`[pure virtual]`

Get time from velocity.

Parameters:

	sec	contains seconds since the epoch upon return (Unix timestamp)
	usec	contains microseconds upon return

Implemented in firevision::VelocityGlobalFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityFromRelative.

void firevision::VelocityModel::getVelocity	(	float *	vel_x,
		float *	vel_y
	)			`[pure virtual]`

Method to retrieve velocity information.

Parameters:

	vel_x	If not NULL contains velocity in X direction after call
	vel_y	If not NULL contains velocity in Y direction after call

Implemented in firevision::VelocityGlobalFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityFromRelative.

Referenced by firevision::VelocityGlobalFromRelative::calc().

float firevision::VelocityModel::getVelocityX ( ) [pure virtual]

Get velocity of tracked object in X direction.

Returns:: velocity in m/s.

Implemented in firevision::VelocityGlobalFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityFromRelative.

float firevision::VelocityModel::getVelocityY ( ) [pure virtual]

Get velocity of tracked object in X direction.

Returns:: velocity in m/s.

Implemented in firevision::VelocityGlobalFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityFromRelative.

void firevision::VelocityModel::reset ( void ) [pure virtual]

Reset velocity model Must be called if ball is not visible at any time.

Implemented in firevision::VelocityGlobalFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityFromRelative.

void firevision::VelocityModel::setPanTilt	(	float	pan,
		float	tilt
	)			`[pure virtual]`

Set pan and tilt.

Parameters:

	pan	pan
	tilt	tilt

Implemented in firevision::VelocityGlobalFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityFromRelative.

void firevision::VelocityModel::setRobotPosition	(	float	x,
		float	y,
		float	ori,
		timeval	t
	)			`[pure virtual]`

Set robot position.

Parameters:

	x	x
	y	y
	ori	ori
	t	timestamp of the pose information

Implemented in firevision::VelocityGlobalFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityFromRelative.

void firevision::VelocityModel::setRobotVelocity	(	float	vel_x,
		float	vel_y,
		timeval	t
	)			`[pure virtual]`

Set robot velocity.

Parameters:

	vel_x	robot velocity in x direction
	vel_y	robot velocity in y direction
	t	timestamp of the velocity information

Implemented in firevision::VelocityGlobalFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityFromRelative.

void firevision::VelocityModel::setTime ( timeval t ) [pure virtual]

Set current time.

Parameters:

t

time

Implemented in firevision::VelocityGlobalFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityFromRelative.

void firevision::VelocityModel::setTimeNow ( ) [pure virtual]

Get current time from system.

Implemented in firevision::VelocityGlobalFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityFromRelative.

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

src/firevision/models/velocity/velocitymodel.h
src/firevision/models/velocity/velocitymodel.cpp

firevision::VelocityModel Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation