Velocity model interface. More...

#include <>>

Inheritance diagram for firevision::VelocityModel:

Public Member Functions
virtual	~VelocityModel ()
	Virtual empty destructor.
virtual const char *	getName () const =0
	Get name of velocity model.
virtual void	setPanTilt (float pan, float tilt)=0
	Set pan and tilt.
virtual void	setRobotPosition (float x, float y, float ori, timeval t)=0
	Set robot position.
virtual void	setRobotVelocity (float vel_x, float vel_y, timeval t)=0
	Set robot velocity.
virtual void	setTime (timeval t)=0
	Set current time.
virtual void	setTimeNow ()=0
	Get current time from system.
virtual void	getTime (long int sec, long int usec)=0
	Get time from velocity.
virtual void	getVelocity (float vel_x, float vel_y)=0
	Method to retrieve velocity information.
virtual float	getVelocityX ()=0
	Get velocity of tracked object in X direction.
virtual float	getVelocityY ()=0
	Get velocity of tracked object in X direction.
virtual void	calc ()=0
	Calculate velocity values from given data This method must be called after all relevent data (set*) has been set.
virtual void	reset ()=0
	Reset velocity model Must be called if ball is not visible at any time.
virtual coordsys_type_t	getCoordinateSystem ()=0
	Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or COORDSYS_ROBOT_WORLD.

Detailed Description

Velocity model interface.

Definition at line 35 of file velocitymodel.h.

Constructor & Destructor Documentation

firevision::VelocityModel::~VelocityModel ( )

virtual

Virtual empty destructor.

Definition at line 101 of file velocitymodel.cpp.

Member Function Documentation

void firevision::VelocityModel::calc ( )

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.

coordsys_type_t firevision::VelocityModel::getCoordinateSystem ( )

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 )

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 )

Implemented in firevision::VelocityFromRelative, firevision::VelocityFromGlobal, and firevision::VelocityGlobalFromRelative.

Referenced by firevision::VelocityGlobalFromRelative::VelocityGlobalFromRelative().

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

pure virtual

Get name of velocity model.