Omni vision relative position model. More...

#include <>>

Inheritance diagram for firevision::OmniRelative:

Public Member Functions
	OmniRelative (MirrorModel *mirror_model)
	Constructor.
virtual const char *	get_name () const
	Get name of relative position model.
virtual void	set_radius (float r)
	Set radius of a found circle.
virtual void	set_center (float x, float y)
	Set center of a found circle.
virtual void	set_center (const center_in_roi_t &c)
	Set center of a found circle.
virtual void	set_pan_tilt (float pan=0.0f, float tilt=0.0f)
	Set camera pan and tilt.
virtual void	get_pan_tilt (float pan, float tilt) const
	Get camera pan tilt.
virtual float	get_distance () const
	Get distance to object.
virtual float	get_x () const
	Get relative X coordinate of object.
virtual float	get_y () const
	Get relative Y coordinate of object.
virtual float	get_bearing () const
	Get bearing (horizontal angle) to object.
virtual float	get_slope () const
	Get slope (vertical angle) to object.
virtual float	get_radius () const
	Get radius.
virtual void	calc ()
	Calculate position data.
virtual void	calc_unfiltered ()
	Calculate data unfiltered.
virtual void	reset ()
	Reset all data.
virtual bool	is_pos_valid () const
	Check if position is valid.
Public Member Functions inherited from firevision::RelativePositionModel
virtual	~RelativePositionModel ()
	Destructor.
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.

Detailed Description

Omni vision relative position model.

Definition at line 40 of file omni_relative.h.

Constructor & Destructor Documentation

firevision::OmniRelative::OmniRelative ( MirrorModel * mirror_model )

Constructor.

Parameters:

mirror_model mirror model

Definition at line 41 of file omni_relative.cpp.

Member Function Documentation

void firevision::OmniRelative::calc ( )

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*

Implements firevision::RelativePositionModel.

Definition at line 167 of file omni_relative.cpp.

References fawkes::polar_coord_2d_t::phi, and fawkes::polar_coord_2d_t::r.

void firevision::OmniRelative::calc_unfiltered ( )

virtual

Calculate data unfiltered.

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

Implements firevision::RelativePositionModel.

Definition at line 195 of file omni_relative.cpp.

References fawkes::polar_coord_2d_t::phi, and fawkes::polar_coord_2d_t::r.

float firevision::OmniRelative::get_bearing ( void ) const

virtual

Get bearing (horizontal angle) to object.

Returns:: bearing in rad

Implements firevision::RelativePositionModel.

Definition at line 82 of file omni_relative.cpp.

float firevision::OmniRelative::get_distance ( ) const

virtual

Get distance to object.

Returns:: distance to object in meters.

Implements firevision::RelativePositionModel.

Definition at line 75 of file omni_relative.cpp.

const char * firevision::OmniRelative::get_name ( void ) const

virtual

Get name of relative position model.

Returns:: name of relative position model

Implements firevision::RelativePositionModel.

Definition at line 152 of file omni_relative.cpp.

void firevision::OmniRelative::get_pan_tilt	(	float *	pan,
		float *	tilt
	)		const

virtual

Get camera pan tilt.

Parameters:

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

Implements firevision::RelativePositionModel.

Definition at line 146 of file omni_relative.cpp.

float firevision::OmniRelative::get_radius ( ) const

virtual

Get radius.

Returns:: always 0

Definition at line 133 of file omni_relative.cpp.

float firevision::OmniRelative::get_slope ( ) const

virtual

Get slope (vertical angle) to object.

Returns:: slope in rad

Implements firevision::RelativePositionModel.

Definition at line 89 of file omni_relative.cpp.

float firevision::OmniRelative::get_x ( void ) const

virtual

Get relative X coordinate of object.

Returns:: relative X coordinate in local metric cartesian coordinate system

Implements firevision::RelativePositionModel.

Definition at line 103 of file omni_relative.cpp.

float firevision::OmniRelative::get_y ( void ) const

virtual

Get relative Y coordinate of object.

Returns:: relative Y coordinate in local metric cartesian coordinate system

Implements firevision::RelativePositionModel.

Definition at line 96 of file omni_relative.cpp.

bool firevision::OmniRelative::is_pos_valid ( ) const

virtual

Check if position is valid.

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

Author:: Tim Niemueller

Implements firevision::RelativePositionModel.

Definition at line 188 of file omni_relative.cpp.

void firevision::OmniRelative::reset ( )

virtual

Reset all data.

This must be called if the object is not visible.

Implements firevision::RelativePositionModel.

Definition at line 159 of file omni_relative.cpp.

void firevision::OmniRelative::set_center	(	float	x,
		float	y
	)

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)

Implements firevision::RelativePositionModel.

Definition at line 110 of file omni_relative.cpp.

void firevision::OmniRelative::set_center ( const center_in_roi_t & c )

virtual

Set center of a found circle.

This is especially used for ball position implementations.

Parameters:

c center

Implements firevision::RelativePositionModel.

Definition at line 118 of file omni_relative.cpp.

void firevision::OmniRelative::set_pan_tilt	(	float	pan = `0.0f`,
		float	tilt = `0.0f`
	)

virtual

Set camera pan and tilt.

Parameters:

pan	pan value (rad)
tilt	tilt value (rad)

Implements firevision::RelativePositionModel.

Definition at line 140 of file omni_relative.cpp.

void firevision::OmniRelative::set_radius ( float r )

virtual

Set radius of a found circle.

This is especially used for ball position implementations.

Parameters:

r radius

Implements firevision::RelativePositionModel.

Definition at line 124 of file omni_relative.cpp.

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

src/libs/fvmodels/relative_position/omni_relative.h
src/libs/fvmodels/relative_position/omni_relative.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation