Global velocity from relative velocities. More...
#include <models/velocity/globfromrel.h>
Public Member Functions | |
VelocityGlobalFromRelative (VelocityModel *rel_velo_model, RelativePositionModel *rel_pos_model) | |
Destructor. | |
virtual | ~VelocityGlobalFromRelative () |
Destructor. | |
virtual const char * | getName () const |
Get name of velocity model. | |
virtual coordsys_type_t | getCoordinateSystem () |
Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or COORDSYS_ROBOT_WORLD. | |
virtual void | setRobotPosition (float x, float y, float ori, timeval t) |
Set robot position. | |
virtual void | setRobotVelocity (float vel_x, float vel_y, timeval t) |
Set robot velocity. | |
virtual void | setPanTilt (float pan, float tilt) |
Set pan and tilt. | |
virtual void | setTime (timeval t) |
Set current time. | |
virtual void | setTimeNow () |
Get current time from system. | |
virtual void | getTime (long int *sec, long int *usec) |
Get time from velocity. | |
virtual void | getVelocity (float *vel_x, float *vel_y) |
Method to retrieve velocity information. | |
virtual float | getVelocityX () |
Get velocity of tracked object in X direction. | |
virtual float | getVelocityY () |
Get velocity of tracked object in X direction. | |
virtual void | calc () |
Calculate velocity values from given data This method must be called after all relevent data (set*) has been set. | |
virtual void | reset () |
Reset velocity model Must be called if ball is not visible at any time. |
Global velocity from relative velocities.
Definition at line 39 of file globfromrel.h.
firevision::VelocityGlobalFromRelative::VelocityGlobalFromRelative | ( | VelocityModel * | rel_velo_model, | |
RelativePositionModel * | rel_pos_model | |||
) |
Destructor.
rel_velo_model | relative velocity model | |
rel_pos_model | relative position model |
Definition at line 49 of file globfromrel.cpp.
References firevision::VelocityModel::getCoordinateSystem().
firevision::VelocityGlobalFromRelative::~VelocityGlobalFromRelative | ( | ) | [virtual] |
Destructor.
Definition at line 92 of file globfromrel.cpp.
void firevision::VelocityGlobalFromRelative::calc | ( | ) | [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
Implements firevision::VelocityModel.
Definition at line 166 of file globfromrel.cpp.
References firevision::RelativePositionModel::get_distance(), and firevision::VelocityModel::getVelocity().
coordsys_type_t firevision::VelocityGlobalFromRelative::getCoordinateSystem | ( | ) | [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 )
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 )
Implements firevision::VelocityModel.
Definition at line 203 of file globfromrel.cpp.
const char * firevision::VelocityGlobalFromRelative::getName | ( | void | ) | const [virtual] |
Get name of velocity model.
Implements firevision::VelocityModel.
Definition at line 196 of file globfromrel.cpp.
void firevision::VelocityGlobalFromRelative::getTime | ( | long int * | sec, | |
long int * | usec | |||
) | [virtual] |
Get time from velocity.
sec | contains seconds since the epoch upon return (Unix timestamp) | |
usec | contains microseconds upon return |
Implements firevision::VelocityModel.
Definition at line 131 of file globfromrel.cpp.
void firevision::VelocityGlobalFromRelative::getVelocity | ( | float * | vel_x, | |
float * | vel_y | |||
) | [virtual] |
Method to retrieve velocity information.
vel_x | If not NULL contains velocity in X direction after call | |
vel_y | If not NULL contains velocity in Y direction after call |
Implements firevision::VelocityModel.
Definition at line 139 of file globfromrel.cpp.
float firevision::VelocityGlobalFromRelative::getVelocityX | ( | ) | [virtual] |
Get velocity of tracked object in X direction.
Implements firevision::VelocityModel.
Definition at line 151 of file globfromrel.cpp.
float firevision::VelocityGlobalFromRelative::getVelocityY | ( | ) | [virtual] |
Get velocity of tracked object in X direction.
Implements firevision::VelocityModel.
Definition at line 158 of file globfromrel.cpp.
void firevision::VelocityGlobalFromRelative::reset | ( | void | ) | [virtual] |
Reset velocity model Must be called if ball is not visible at any time.
Implements firevision::VelocityModel.
Definition at line 183 of file globfromrel.cpp.
void firevision::VelocityGlobalFromRelative::setPanTilt | ( | float | pan, | |
float | tilt | |||
) | [virtual] |
Set pan and tilt.
pan | pan | |
tilt | tilt |
Implements firevision::VelocityModel.
Definition at line 98 of file globfromrel.cpp.
void firevision::VelocityGlobalFromRelative::setRobotPosition | ( | float | x, | |
float | y, | |||
float | ori, | |||
timeval | t | |||
) | [virtual] |
Set robot position.
x | x | |
y | y | |
ori | ori | |
t | timestamp of the pose information |
Implements firevision::VelocityModel.
Definition at line 104 of file globfromrel.cpp.
References fawkes::time_diff_sec().
void firevision::VelocityGlobalFromRelative::setRobotVelocity | ( | float | vel_x, | |
float | vel_y, | |||
timeval | t | |||
) | [virtual] |
Set robot velocity.
vel_x | robot velocity in x direction | |
vel_y | robot velocity in y direction | |
t | timestamp of the velocity information |
Implements firevision::VelocityModel.
Definition at line 114 of file globfromrel.cpp.
void firevision::VelocityGlobalFromRelative::setTime | ( | timeval | t | ) | [virtual] |
Set current time.
t | time |
Implements firevision::VelocityModel.
Definition at line 119 of file globfromrel.cpp.
void firevision::VelocityGlobalFromRelative::setTimeNow | ( | ) | [virtual] |
Get current time from system.
Implements firevision::VelocityModel.
Definition at line 125 of file globfromrel.cpp.