firevision::VelocityFromRelative Class Reference

Calculate velocity from relative positions. More...

#include <models/velocity/relvelo.h>

Inheritance diagram for firevision::VelocityFromRelative:

Public Member Functions
	VelocityFromRelative (RelativePositionModel *model, unsigned int max_history_length, unsigned int calc_interval)
	Constructor.
virtual	~VelocityFromRelative ()
	Destructor.
virtual const char *	getName () const
	Get name of velocity model.
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.
virtual coordsys_type_t	getCoordinateSystem ()
	Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or COORDSYS_ROBOT_WORLD.

Detailed Description

Calculate velocity from relative positions.

Definition at line 55 of file relvelo.h.

Constructor & Destructor Documentation

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

Constructor.

Parameters:

	model	relative position model
	max_history_length	maximum history length
	calc_interval	calculation interval

Definition at line 49 of file relvelo.cpp.

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

Destructor.

Definition at line 96 of file relvelo.cpp.

Member Function Documentation

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

Implements firevision::VelocityModel.

Definition at line 172 of file relvelo.cpp.

References firevision::RelativePositionModel::get_distance(), firevision::RelativePositionModel::get_x(), firevision::RelativePositionModel::get_y(), firevision::vel_postime_t::t, fawkes::time_diff_sec(), firevision::vel_postime_t::x, and firevision::vel_postime_t::y.

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

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 401 of file relvelo.cpp.

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

Get name of velocity model.

Returns:: name of velocity model

Implements firevision::VelocityModel.

Definition at line 394 of file relvelo.cpp.

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

Get time from velocity.

Parameters:

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

Implements firevision::VelocityModel.

Definition at line 138 of file relvelo.cpp.

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

Implements firevision::VelocityModel.

Definition at line 146 of file relvelo.cpp.

float firevision::VelocityFromRelative::getVelocityX ( ) [virtual]

Get velocity of tracked object in X direction.

Returns:: velocity in m/s.

Implements firevision::VelocityModel.

Definition at line 158 of file relvelo.cpp.

float firevision::VelocityFromRelative::getVelocityY ( ) [virtual]

Get velocity of tracked object in X direction.

Returns:: velocity in m/s.

Implements firevision::VelocityModel.

Definition at line 165 of file relvelo.cpp.

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

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

Implements firevision::VelocityModel.

Definition at line 376 of file relvelo.cpp.

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

Set pan and tilt.

Parameters:

	pan	pan
	tilt	tilt

Implements firevision::VelocityModel.

Definition at line 102 of file relvelo.cpp.

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

Set robot position.

Parameters:

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

Implements firevision::VelocityModel.

Definition at line 108 of file relvelo.cpp.

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

Implements firevision::VelocityModel.

Definition at line 114 of file relvelo.cpp.

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

Set current time.

Parameters:

t

time

Implements firevision::VelocityModel.

Definition at line 123 of file relvelo.cpp.

void firevision::VelocityFromRelative::setTimeNow ( ) [virtual]

Get current time from system.

Implements firevision::VelocityModel.

Definition at line 131 of file relvelo.cpp.

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

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

firevision::VelocityFromRelative Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation