Fawkes API  Fawkes Development Version
firevision::RelativePositionModel Class Referenceabstract

Relative Position Model Interface. More...

#include <>>

Inheritance diagram for firevision::RelativePositionModel:

Public Member Functions

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

Detailed Description

Relative Position Model Interface.

This interfaces defines a relative position model.

Definition at line 35 of file relativepositionmodel.h.

Constructor & Destructor Documentation

◆ ~RelativePositionModel()

firevision::RelativePositionModel::~RelativePositionModel ( )
virtual

Destructor.

Definition at line 108 of file relativepositionmodel.cpp.

Member Function Documentation

◆ calc()

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::FrontBallRelativePos, firevision::BoxRelative, firevision::BallTrigoRelativePos, and firevision::OmniRelative.

◆ calc_unfiltered()

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::FrontBallRelativePos, firevision::BoxRelative, firevision::BallTrigoRelativePos, and firevision::OmniRelative.

◆ get_bearing()

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

Get bearing (horizontal angle) to object.

Returns
bearing in rad

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

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

◆ get_cam_rotation()

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

Returns the camera orientation.

Parameters
panpan value (rad)
tilttilt value (rad)
rollroll value (rad)

Definition at line 128 of file relativepositionmodel.cpp.

References get_pan_tilt().

◆ get_cam_translation()

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

Returns the current translation of the camera.

Parameters
heightheight of the camera [m]
rel_xdistance to the center of the robot [m]
rel_ydistance to the center of the robot [m]

Definition at line 150 of file relativepositionmodel.cpp.

◆ get_distance()

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

Get distance to object.

Returns
distance to object in meters.

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

◆ get_name()

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::FrontBallRelativePos, firevision::BallTrigoRelativePos, firevision::BoxRelative, and firevision::OmniRelative.

◆ get_pan_tilt()

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

Get camera pan tilt.

Parameters
pancontains pan value (rad) upon return
tiltcontains tilt value (rad) upon return

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

Referenced by get_cam_rotation().

◆ get_slope()

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

Get slope (vertical angle) to object.

Returns
slope in rad

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

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

◆ get_x()

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::FrontBallRelativePos, firevision::BoxRelative, firevision::BallTrigoRelativePos, and firevision::OmniRelative.

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

◆ 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::FrontBallRelativePos, firevision::BoxRelative, firevision::BallTrigoRelativePos, and firevision::OmniRelative.

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

◆ is_pos_valid()

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::FrontBallRelativePos, firevision::BoxRelative, firevision::BallTrigoRelativePos, and firevision::OmniRelative.

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

◆ reset()

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

Reset all data.

This must be called if the object is not visible.

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

◆ set_cam_rotation()

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

Sets the camera orientation.

Parameters
panpan value (rad)
tilttilt value (rad)
rollroll value (rad)

Definition at line 118 of file relativepositionmodel.cpp.

◆ set_cam_translation()

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
heightheight of the camera [m]
rel_xdistance to the center of the robot [m]
rel_ydistance to the center of the robot [m]

Definition at line 140 of file relativepositionmodel.cpp.

◆ set_center() [1/2]

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
xx position in image (pixels)
yy position in image (pixels)

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

◆ set_center() [2/2]

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
ccenter

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

◆ set_pan_tilt()

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

Set camera pan and tilt.

Parameters
panpan value (rad)
tilttilt value (rad)

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

◆ set_radius()

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

Set radius of a found circle.

This is especially used for ball position implementations.

Parameters
rradius

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


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