Fawkes API
Fawkes Development Version
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#include <>>
Public Member Functions | |
virtual | ~VelocityModel () |
Virtual empty destructor. More... | |
virtual const char * | getName () const =0 |
virtual void | setPanTilt (float pan, float tilt)=0 |
virtual void | setRobotPosition (float x, float y, float ori, timeval t)=0 |
virtual void | setRobotVelocity (float vel_x, float vel_y, timeval t)=0 |
virtual void | setTime (timeval t)=0 |
virtual void | setTimeNow ()=0 |
virtual void | getTime (long int *sec, long int *usec)=0 |
virtual void | getVelocity (float *vel_x, float *vel_y)=0 |
virtual float | getVelocityX ()=0 |
virtual float | getVelocityY ()=0 |
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 38 of file velocitymodel.h.
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virtual |
Virtual empty destructor.
Definition at line 104 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
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 )
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 )
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.
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.