Calculate velocity from relative positions. More...

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Inheritance diagram for firevision::VelocityFromRelative:

Public Member Functions
	VelocityFromRelative (RelativePositionModel *model, unsigned int max_history_length, unsigned int calc_interval)
	Constructor.
virtual	~VelocityFromRelative ()
	Destructor.
virtual const char *	getName () const
	Get name of velocity model.
virtual void	setRobotPosition (float x, float y, float ori, timeval t)
	Set robot position.
virtual void	setRobotVelocity (float vel_x, float vel_y, timeval t)
	Set robot velocity.
virtual void	setPanTilt (float pan, float tilt)
	Set pan and tilt.
virtual void	setTime (timeval t)
	Set current time.
virtual void	setTimeNow ()
	Get current time from system.
virtual void	getTime (long int sec, long int usec)
	Get time from velocity.
virtual void	getVelocity (float vel_x, float vel_y)
	Method to retrieve velocity information.
virtual float	getVelocityX ()
	Get velocity of tracked object in X direction.
virtual float	getVelocityY ()
	Get velocity of tracked object in X direction.
virtual void	calc ()
	Calculate velocity values from given data This method must be called after all relevent data (set*) has been set.
virtual void	reset ()
	Reset velocity model Must be called if ball is not visible at any time.
virtual coordsys_type_t	getCoordinateSystem ()
	Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or COORDSYS_ROBOT_WORLD.
Public Member Functions inherited from firevision::VelocityModel
virtual	~VelocityModel ()
	Virtual empty destructor.

Detailed Description

Calculate velocity from relative positions.

Definition at line 55 of file relvelo.h.

Constructor & Destructor Documentation

firevision::VelocityFromRelative::VelocityFromRelative	(	RelativePositionModel *	model,
		unsigned int	max_history_length,
		unsigned int	calc_interval
	)

Constructor.

Parameters:

model	relative position model
max_history_length	maximum history length
calc_interval	calculation interval

Definition at line 49 of file relvelo.cpp.

firevision::VelocityFromRelative::~VelocityFromRelative ( )

virtual

Destructor.

Definition at line 96 of file relvelo.cpp.

Member Function Documentation

void firevision::VelocityFromRelative::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 172 of file relvelo.cpp.

References firevision::vel_postime_t::t, fawkes::time_diff_sec(), firevision::vel_postime_t::x, and firevision::vel_postime_t::y.

coordsys_type_t firevision::VelocityFromRelative::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 401 of file relvelo.cpp.

const char * firevision::VelocityFromRelative::getName ( void ) const

virtual

Get name of velocity model.