firevision::RelativePositionModel Class Reference

Relative Position Model Interface. More...

#include <models/relative_position/relativepositionmodel.h>

Inheritance diagram for firevision::RelativePositionModel:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual ~RelativePositionModel ()
 Destructor.
virtual const char * get_name (void) const =0
 Get name of relative position model.
virtual void set_radius (float r)=0
 Set radius of a found circle.
virtual void set_center (float x, float y)=0
 Set center of a found circle.
virtual void set_center (const center_in_roi_t &c)=0
 Set center of a found circle.
virtual void set_pan_tilt (float pan, float tilt)=0
 Set camera pan and tilt.
virtual void get_pan_tilt (float *pan, float *tilt) const =0
 Get camera pan tilt.
virtual void set_cam_rotation (float pan, float tilt, float roll=0.f)
 Sets the camera orientation.
virtual void get_cam_rotation (float &pan, float &tilt, float &roll) const
 Returns the camera orientation.
virtual void set_cam_translation (float height, float rel_x=0.f, float rel_y=0.f)
 Sets the current translation of the camera.
virtual void get_cam_translation (float &height, float &rel_x, float &rel_y) const
 Returns the current translation of the camera.
virtual void calc ()=0
 Calculate position data.
virtual void calc_unfiltered ()=0
 Calculate data unfiltered.
virtual void reset ()=0
 Reset all data.
virtual float get_distance () const =0
 Get distance to object.
virtual float get_bearing () const =0
 Get bearing (horizontal angle) to object.
virtual float get_slope () const =0
 Get slope (vertical angle) to object.
virtual float get_x () const =0
 Get relative X coordinate of object.
virtual float get_y () const =0
 Get relative Y coordinate of object.
virtual bool is_pos_valid () const =0
 Check if position is valid.

Detailed Description

Relative Position Model Interface.

This interfaces defines a relative position model.

Definition at line 35 of file relativepositionmodel.h.

Constructor & Destructor Documentation

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

Destructor.

Definition at line 108 of file relativepositionmodel.cpp.

Member Function Documentation

void firevision::RelativePositionModel::calc (  )  [pure 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*

Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.

void firevision::RelativePositionModel::calc_unfiltered (  )  [pure virtual]

Calculate data unfiltered.

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

Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.

float firevision::RelativePositionModel::get_bearing ( void   )  const [pure virtual]

Get bearing (horizontal angle) to object.

Returns:
bearing in rad

Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.

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

void firevision::RelativePositionModel::get_cam_rotation ( float &  pan,
float &  tilt,
float &  roll 
) const [virtual]

Returns the camera orientation.

Parameters:
pan pan value (rad)
tilt tilt value (rad)
roll roll value (rad)

Reimplemented in firevision::BackProjectionPositionModel.

Definition at line 128 of file relativepositionmodel.cpp.

References get_pan_tilt().

void firevision::RelativePositionModel::get_cam_translation ( float &  height,
float &  rel_x,
float &  rel_y 
) const [virtual]

Returns the current translation of the camera.

Parameters:
height height of the camera [m]
rel_x distance to the center of the robot [m]
rel_y distance to the center of the robot [m]

Reimplemented in firevision::BackProjectionPositionModel.

Definition at line 150 of file relativepositionmodel.cpp.

float firevision::RelativePositionModel::get_distance (  )  const [pure virtual]

Get distance to object.

Returns:
distance to object in meters.

Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.

Referenced by firevision::VelocityFromRelative::calc(), and firevision::VelocityGlobalFromRelative::calc().

const char * firevision::RelativePositionModel::get_name ( void   )  const [pure virtual]

Get name of relative position model.

Returns:
name of relative position model

Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.

void firevision::RelativePositionModel::get_pan_tilt ( float *  pan,
float *  tilt 
) const [pure virtual]

Get camera pan tilt.

Parameters:
pan contains pan value (rad) upon return
tilt contains tilt value (rad) upon return

Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.

Referenced by get_cam_rotation().

float firevision::RelativePositionModel::get_slope (  )  const [pure virtual]

Get slope (vertical angle) to object.

Returns:
slope in rad

Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.

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

float firevision::RelativePositionModel::get_x ( void   )  const [pure virtual]

Get relative X coordinate of object.

Returns:
relative X coordinate in local metric cartesian coordinate system

Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.

Referenced by firevision::VelocityFromRelative::calc(), firevision::GlobalFromRelativePos::get_x(), and firevision::GlobalFromRelativePos::get_y().

float firevision::RelativePositionModel::get_y ( void   )  const [pure virtual]

Get relative Y coordinate of object.

Returns:
relative Y coordinate in local metric cartesian coordinate system

Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.

Referenced by firevision::VelocityFromRelative::calc(), firevision::GlobalFromRelativePos::get_x(), and firevision::GlobalFromRelativePos::get_y().

bool firevision::RelativePositionModel::is_pos_valid (  )  const [pure virtual]

Check if position is valid.

Returns:
true, if the calculated position is valid, false otherwise
Author:
Tim Niemueller

Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.

Referenced by firevision::GlobalFromRelativePos::is_pos_valid().

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

Reset all data.

This must be called if the object is not visible.

Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.

void firevision::RelativePositionModel::set_cam_rotation ( float  pan,
float  tilt,
float  roll = 0.f 
) [virtual]

Sets the camera orientation.

Parameters:
pan pan value (rad)
tilt tilt value (rad)
roll roll value (rad)

Reimplemented in firevision::BackProjectionPositionModel.

Definition at line 118 of file relativepositionmodel.cpp.

void firevision::RelativePositionModel::set_cam_translation ( float  height,
float  rel_x = 0.f,
float  rel_y = 0.f 
) [virtual]

Sets the current translation of the camera.

Parameters:
height height of the camera [m]
rel_x distance to the center of the robot [m]
rel_y distance to the center of the robot [m]

Reimplemented in firevision::BackProjectionPositionModel.

Definition at line 140 of file relativepositionmodel.cpp.

void firevision::RelativePositionModel::set_center ( const center_in_roi_t &  c  )  [pure virtual]

Set center of a found circle.

This is especially used for ball position implementations.

Parameters:
c center

Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.

void firevision::RelativePositionModel::set_center ( float  x,
float  y 
) [pure 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)

Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.

void firevision::RelativePositionModel::set_pan_tilt ( float  pan,
float  tilt 
) [pure virtual]

Set camera pan and tilt.

Parameters:
pan pan value (rad)
tilt tilt value (rad)

Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.

void firevision::RelativePositionModel::set_radius ( float  r  )  [pure virtual]

Set radius of a found circle.

This is especially used for ball position implementations.

Parameters:
r radius

Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.

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