Fawkes API
Fawkes Development Version
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Velocity model interface. More...
#include <>>
Public Member Functions | |
virtual | ~VelocityModel () |
Virtual empty destructor. More... | |
virtual const char * | getName () const =0 |
Get name of velocity model. More... | |
virtual void | setPanTilt (float pan, float tilt)=0 |
Set pan and tilt. More... | |
virtual void | setRobotPosition (float x, float y, float ori, timeval t)=0 |
Set robot position. More... | |
virtual void | setRobotVelocity (float vel_x, float vel_y, timeval t)=0 |
Set robot velocity. More... | |
virtual void | setTime (timeval t)=0 |
Set current time. More... | |
virtual void | setTimeNow ()=0 |
Get current time from system. More... | |
virtual void | getTime (long int *sec, long int *usec)=0 |
Get time from velocity. More... | |
virtual void | getVelocity (float *vel_x, float *vel_y)=0 |
Method to retrieve velocity information. More... | |
virtual float | getVelocityX ()=0 |
Get velocity of tracked object in X direction. More... | |
virtual float | getVelocityY ()=0 |
Get velocity of tracked object in X direction. More... | |
virtual void | calc ()=0 |
Calculate velocity values from given data This method must be called after all relevent data (set*) has been set. More... | |
virtual void | reset ()=0 |
Reset velocity model Must be called if ball is not visible at any time. More... | |
virtual coordsys_type_t | getCoordinateSystem ()=0 |
Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or COORDSYS_ROBOT_WORLD. More... | |
Velocity model interface.
Definition at line 35 of file velocitymodel.h.
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virtual |
Virtual empty destructor.
Definition at line 101 of file velocitymodel.cpp.
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pure 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
Implemented in firevision::VelocityFromRelative, firevision::VelocityGlobalFromRelative, and firevision::VelocityFromGlobal.
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pure 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 )
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 )
Implemented in firevision::VelocityFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityGlobalFromRelative.
Referenced by firevision::VelocityGlobalFromRelative::VelocityGlobalFromRelative().
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pure virtual |
Get name of velocity model.
Implemented in firevision::VelocityFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityGlobalFromRelative.
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pure virtual |
Get time from velocity.
sec | contains seconds since the epoch upon return (Unix timestamp) |
usec | contains microseconds upon return |
Implemented in firevision::VelocityFromRelative, firevision::VelocityGlobalFromRelative, and firevision::VelocityFromGlobal.
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pure virtual |
Method to retrieve velocity information.
vel_x | If not NULL contains velocity in X direction after call |
vel_y | If not NULL contains velocity in Y direction after call |
Implemented in firevision::VelocityFromRelative, firevision::VelocityGlobalFromRelative, and firevision::VelocityFromGlobal.
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pure virtual |
Get velocity of tracked object in X direction.
Implemented in firevision::VelocityFromRelative, firevision::VelocityGlobalFromRelative, and firevision::VelocityFromGlobal.
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pure virtual |
Get velocity of tracked object in X direction.
Implemented in firevision::VelocityFromRelative, firevision::VelocityGlobalFromRelative, and firevision::VelocityFromGlobal.
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pure virtual |
Reset velocity model Must be called if ball is not visible at any time.
Implemented in firevision::VelocityFromRelative, firevision::VelocityGlobalFromRelative, and firevision::VelocityFromGlobal.
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pure virtual |
Set pan and tilt.
pan | pan |
tilt | tilt |
Implemented in firevision::VelocityFromRelative, firevision::VelocityGlobalFromRelative, and firevision::VelocityFromGlobal.
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pure virtual |
Set robot position.
x | x |
y | y |
ori | ori |
t | timestamp of the pose information |
Implemented in firevision::VelocityFromRelative, firevision::VelocityGlobalFromRelative, and firevision::VelocityFromGlobal.
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pure virtual |
Set robot velocity.
vel_x | robot velocity in x direction |
vel_y | robot velocity in y direction |
t | timestamp of the velocity information |
Implemented in firevision::VelocityFromRelative, firevision::VelocityGlobalFromRelative, and firevision::VelocityFromGlobal.
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pure virtual |
Set current time.
t | time |
Implemented in firevision::VelocityFromRelative, firevision::VelocityGlobalFromRelative, and firevision::VelocityFromGlobal.
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pure virtual |
Get current time from system.
Implemented in firevision::VelocityFromRelative, firevision::VelocityGlobalFromRelative, and firevision::VelocityFromGlobal.