Fawkes API  Fawkes Development Version
firevision::VelocityFromRelative Class Reference

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Inheritance diagram for firevision::VelocityFromRelative:

Public Member Functions

 VelocityFromRelative (RelativePositionModel *model, unsigned int max_history_length, unsigned int calc_interval)
 Constructor. More...
 
virtual ~VelocityFromRelative ()
 Destructor. More...
 
virtual const char * getName () const
 
virtual void setRobotPosition (float x, float y, float ori, timeval t)
 
virtual void setRobotVelocity (float vel_x, float vel_y, timeval t)
 
virtual void setPanTilt (float pan, float tilt)
 
virtual void setTime (timeval t)
 
virtual void setTimeNow ()
 
virtual void getTime (long int *sec, long int *usec)
 
virtual void getVelocity (float *vel_x, float *vel_y)
 
virtual float getVelocityX ()
 
virtual float getVelocityY ()
 
virtual void calc ()
 Calculate velocity values from given data This method must be called after all relevent data (set*) has been set. More...
 
virtual void reset ()
 Reset velocity model Must be called if ball is not visible at any time. More...
 
virtual coordsys_type_t getCoordinateSystem ()
 Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or COORDSYS_ROBOT_WORLD. More...
 
- Public Member Functions inherited from firevision::VelocityModel
virtual ~VelocityModel ()
 Virtual empty destructor. More...
 

Detailed Description

Calculate velocity from relative positions.

Definition at line 58 of file relvelo.h.

Constructor & Destructor Documentation

◆ VelocityFromRelative()

firevision::VelocityFromRelative::VelocityFromRelative ( RelativePositionModel model,
unsigned int  max_history_length,
unsigned int  calc_interval 
)

Constructor.

Parameters
modelrelative position model
max_history_lengthmaximum history length
calc_intervalcalculation interval

Definition at line 45 of file relvelo.cpp.

◆ ~VelocityFromRelative()

firevision::VelocityFromRelative::~VelocityFromRelative ( )
virtual

Destructor.

Definition at line 90 of file relvelo.cpp.

Member Function Documentation

◆ calc()

void firevision::VelocityFromRelative::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

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 157 of file relvelo.cpp.

References firevision::vel_postime_t::t, fawkes::time_diff_sec(), firevision::vel_postime_t::x, and firevision::vel_postime_t::y.

◆ getCoordinateSystem()

coordsys_type_t firevision::VelocityFromRelative::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 )

Returns
coordinate system type

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 )

Implements firevision::VelocityModel.

Definition at line 379 of file relvelo.cpp.

◆ getName()

const char * firevision::VelocityFromRelative::getName ( void  ) const
virtual

Get name of velocity model

Returns
name of velocity model

Implements firevision::VelocityModel.

Definition at line 373 of file relvelo.cpp.

◆ getTime()

void firevision::VelocityFromRelative::getTime ( long int *  sec,
long int *  usec 
)
virtual

Get time from velocity.

Parameters
seccontains seconds since the epoch upon return (Unix timestamp)
useccontains microseconds upon return

Implements firevision::VelocityModel.

Definition at line 127 of file relvelo.cpp.

◆ getVelocity()

void firevision::VelocityFromRelative::getVelocity ( float *  vel_x,
float *  vel_y 
)
virtual

Method to retrieve velocity information

Parameters
vel_xIf not NULL contains velocity in X direction after call
vel_yIf not NULL contains velocity in Y direction after call

Implements firevision::VelocityModel.

Definition at line 134 of file relvelo.cpp.

◆ getVelocityX()

float firevision::VelocityFromRelative::getVelocityX ( )
virtual

Get velocity of tracked object in X direction.

Returns
velocity in m/s.

Implements firevision::VelocityModel.

Definition at line 145 of file relvelo.cpp.

◆ getVelocityY()

float firevision::VelocityFromRelative::getVelocityY ( )
virtual

Get velocity of tracked object in X direction.

Returns
velocity in m/s.

Implements firevision::VelocityModel.

Definition at line 151 of file relvelo.cpp.

◆ reset()

void firevision::VelocityFromRelative::reset ( void  )
virtual

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

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

Implements firevision::VelocityModel.

Definition at line 356 of file relvelo.cpp.

◆ setPanTilt()

void firevision::VelocityFromRelative::setPanTilt ( float  pan,
float  tilt 
)
virtual

Set pan and tilt.

Parameters
panpan
tilttilt

Implements firevision::VelocityModel.

Definition at line 95 of file relvelo.cpp.

◆ setRobotPosition()

void firevision::VelocityFromRelative::setRobotPosition ( float  x,
float  y,
float  ori,
timeval  t 
)
virtual

Set robot position.

Parameters
xx
yy
oriori
ttimestamp of the pose information

Implements firevision::VelocityModel.

Definition at line 100 of file relvelo.cpp.

◆ setRobotVelocity()

void firevision::VelocityFromRelative::setRobotVelocity ( float  vel_x,
float  vel_y,
timeval  t 
)
virtual

Set robot velocity.

Parameters
vel_xrobot velocity in x direction
vel_yrobot velocity in y direction
ttimestamp of the velocity information

Implements firevision::VelocityModel.

Definition at line 105 of file relvelo.cpp.

◆ setTime()

void firevision::VelocityFromRelative::setTime ( timeval  t)
virtual

Set current time.

Parameters
ttime

Implements firevision::VelocityModel.

Definition at line 114 of file relvelo.cpp.

◆ setTimeNow()

void firevision::VelocityFromRelative::setTimeNow ( )
virtual

Get current time from system.

Implements firevision::VelocityModel.

Definition at line 121 of file relvelo.cpp.


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