Fawkes API  Fawkes Development Version
firevision::VelocityFromGlobal Class Reference

Velocity from global positions. More...

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Inheritance diagram for firevision::VelocityFromGlobal:

Public Member Functions

 VelocityFromGlobal (GlobalPositionModel *model, unsigned int history_length, unsigned int calc_interval)
 Constructor. More...
 
virtual ~VelocityFromGlobal ()
 Destructor. More...
 
virtual const char * getName () const
 Get name of velocity model. More...
 
virtual void setRobotPosition (float x, float y, float ori, timeval t)
 Set robot position. More...
 
virtual void setRobotVelocity (float vel_x, float vel_y, timeval t)
 Set robot velocity. More...
 
virtual void setPanTilt (float pan, float tilt)
 Set pan and tilt. More...
 
virtual void setTime (timeval t)
 Set current time. More...
 
virtual void setTimeNow ()
 Get current time from system. More...
 
virtual void getTime (long int *sec, long int *usec)
 Get time from velocity. More...
 
virtual void getVelocity (float *vel_x, float *vel_y)
 Method to retrieve velocity information. More...
 
virtual float getVelocityX ()
 Get velocity of tracked object in X direction. More...
 
virtual float getVelocityY ()
 Get velocity of tracked object in X direction. More...
 
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

Velocity from global positions.

Definition at line 40 of file globvelo.h.

Constructor & Destructor Documentation

◆ VelocityFromGlobal()

firevision::VelocityFromGlobal::VelocityFromGlobal ( GlobalPositionModel model,
unsigned int  history_length,
unsigned int  calc_interval 
)

Constructor.

Parameters
modelglobal position model
history_lengthmaximum history length
calc_intervalcalculation interval

Definition at line 44 of file globvelo.cpp.

◆ ~VelocityFromGlobal()

firevision::VelocityFromGlobal::~VelocityFromGlobal ( )
virtual

Destructor.

Definition at line 80 of file globvelo.cpp.

Member Function Documentation

◆ calc()

void firevision::VelocityFromGlobal::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 160 of file globvelo.cpp.

References firevision::GlobalPositionModel::get_x(), and firevision::GlobalPositionModel::get_y().

◆ getCoordinateSystem()

coordsys_type_t firevision::VelocityFromGlobal::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 227 of file globvelo.cpp.

◆ getName()

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

Get name of velocity model.

Returns
name of velocity model

Implements firevision::VelocityModel.

Definition at line 220 of file globvelo.cpp.

◆ getTime()

void firevision::VelocityFromGlobal::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 125 of file globvelo.cpp.

◆ getVelocity()

void firevision::VelocityFromGlobal::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 133 of file globvelo.cpp.

◆ getVelocityX()

float firevision::VelocityFromGlobal::getVelocityX ( )
virtual

Get velocity of tracked object in X direction.

Returns
velocity in m/s.

Implements firevision::VelocityModel.

Definition at line 145 of file globvelo.cpp.

◆ getVelocityY()

float firevision::VelocityFromGlobal::getVelocityY ( )
virtual

Get velocity of tracked object in X direction.

Returns
velocity in m/s.

Implements firevision::VelocityModel.

Definition at line 152 of file globvelo.cpp.

◆ reset()

void firevision::VelocityFromGlobal::reset ( void  )
virtual

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

Implements firevision::VelocityModel.

Definition at line 213 of file globvelo.cpp.

◆ setPanTilt()

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

Set pan and tilt.

Parameters
panpan
tilttilt

Implements firevision::VelocityModel.

Definition at line 86 of file globvelo.cpp.

◆ setRobotPosition()

void firevision::VelocityFromGlobal::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 92 of file globvelo.cpp.

References fawkes::time_diff_sec().

◆ setRobotVelocity()

void firevision::VelocityFromGlobal::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 104 of file globvelo.cpp.

◆ setTime()

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

Set current time.

Parameters
ttime

Implements firevision::VelocityModel.

Definition at line 110 of file globvelo.cpp.

◆ setTimeNow()

void firevision::VelocityFromGlobal::setTimeNow ( )
virtual

Get current time from system.

Implements firevision::VelocityModel.

Definition at line 118 of file globvelo.cpp.


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