Raytraced beams scanline model. More...

#include <>>

Inheritance diagram for firevision::ScanlineBeams:

Public Member Functions
	ScanlineBeams (unsigned int image_width, unsigned int image_height, unsigned int start_x, unsigned int start_y, unsigned int stop_y, unsigned int offset_y, bool distribute_start_x, float angle_from, float angle_range, unsigned int num_beams)
	Construtor.
fawkes::point_t	operator* ()
	Get the current coordinate.
fawkes::point_t *	operator-> ()
	Get pointer to current point.
fawkes::point_t *	operator++ ()
	Postfix ++ operator.
fawkes::point_t *	operator++ (int)
	Prefix ++ operator.
bool	finished ()
	Check if all desired points have been processed.
void	reset ()
	Reset model.
const char *	get_name ()
	Get name of scanline model.
unsigned int	get_margin ()
	Get margin around points.
virtual void	set_robot_pose (float x, float y, float ori)
	Set the robot's pose.
virtual void	set_pan_tilt (float pan, float tilt)
	Set camera's pan/tilt values.
Public Member Functions inherited from firevision::ScanlineModel
virtual	~ScanlineModel ()
	Virtual empty destructor.
virtual void	set_roi (ROI *roi=NULL)
	Set the region-of-interest.

Detailed Description

Raytraced beams scanline model.

This model uses a defined number of beams shot from the bottom of the image towards the top using Bresenham. With this you can have kind of a radar-like scanline model. Additionally the starting points at the bottom can be distributed over the full width of the image which alles for a scan aligned to the image.

To ease the calculation of the finished state the very last point is traversed twice.

Author:: Tim Niemueller

Definition at line 37 of file beams.h.

Constructor & Destructor Documentation

firevision::ScanlineBeams::ScanlineBeams	(	unsigned int	image_width,
		unsigned int	image_height,
		unsigned int	start_x,
		unsigned int	start_y,
		unsigned int	stop_y,
		unsigned int	offset_y,
		bool	distribute_start_x,
		float	angle_from,
		float	angle_range,
		unsigned int	num_beams
	)

Construtor.

Parameters:

image_width	image width
image_height	image height
start_x	x coordinate of the starting point, ignored if distributed (see below)
start_y	y coordinate of the starting point, this is the lowest points of the the lines and should thus be close to the bottom of the image
stop_y	Y coordinate for stopping the traversal
offset_y	number of pixel to advance in Y-direction per iteration
distribute_start_x	set to true, to distribute the start x coordinates equidistant over the whole width of the image.
angle_from	angle to start the scan at, a straight vertical line means zero rad, clock-wise positive, in radians
angle_range	the range to use to distribute the beams, clockwise positive, in radians
num_beams	number of beams to use

Exceptions:

Exception thrown if parameters are out of bounds

Definition at line 67 of file beams.cpp.

Member Function Documentation

bool firevision::ScanlineBeams::finished ( )

virtual

Check if all desired points have been processed.

Returns:: true if all pixels that the model defines have been iterated.

Implements firevision::ScanlineModel.

Definition at line 108 of file beams.cpp.

unsigned int firevision::ScanlineBeams::get_margin ( )

virtual

Get margin around points.

Models that do not use margins shall return zero. It shall be guaranteed that in this margin region around a point there is no other point that has been or will be returned in a full iteration.

Returns:: margin around a point.

Implements firevision::ScanlineModel.

Definition at line 268 of file beams.cpp.

const char * firevision::ScanlineBeams::get_name ( )

virtual

Get name of scanline model.

Returns:: name of scanline model.

Implements firevision::ScanlineModel.

Definition at line 261 of file beams.cpp.

point_t firevision::ScanlineBeams::operator* ( )

virtual

Get the current coordinate.

Returns:: current point in image that is shall be processed.

Implements firevision::ScanlineModel.

Definition at line 95 of file beams.cpp.

point_t * firevision::ScanlineBeams::operator++ ( )

virtual

Postfix ++ operator.

Advances to the next point and returns the new point.

Returns:: pointer to new point

Implements firevision::ScanlineModel.

Definition at line 206 of file beams.cpp.

point_t * firevision::ScanlineBeams::operator++ ( int )

virtual

Prefix ++ operator.

Advances to the next point but returns the old point.

Returns:: pointer to next point

Implements firevision::ScanlineModel.

Definition at line 214 of file beams.cpp.

References fawkes::point_t::x.

point_t * firevision::ScanlineBeams::operator-> ( )

virtual

Get pointer to current point.

Returns:: pointer to current point

See also:: operator*()

Implements firevision::ScanlineModel.

Definition at line 101 of file beams.cpp.

void firevision::ScanlineBeams::reset ( )

virtual

Reset model.

Resets the set of processed points.

Implements firevision::ScanlineModel.

Definition at line 224 of file beams.cpp.

References fawkes::point_t::x, and fawkes::point_t::y.

virtual void firevision::ScanlineBeams::set_pan_tilt	(	float	pan,
		float	tilt
	)

inlinevirtual

Set camera's pan/tilt values.

Parameters:

pan	camera's current pan
tilt	camera's current tilt

Implements firevision::ScanlineModel.

Definition at line 59 of file beams.h.

virtual void firevision::ScanlineBeams::set_robot_pose	(	float	x,
		float	y,
		float	ori
	)

inlinevirtual

Set the robot's pose.

Parameters:

x	robot's x coordinate on field in meters
y	robot's y coordinate on field in meters
ori	robot's orientation. Looking towards the opponent goal is zero rad, with positive values pointing to the right, negative to the left.

Implements firevision::ScanlineModel.

Definition at line 58 of file beams.h.

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

src/libs/fvmodels/scanlines/beams.h
src/libs/fvmodels/scanlines/beams.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation