VelocityFromGlobal Class Reference

Velocity from global positions. More...

#include <models/velocity/globvelo.h>

Inheritance diagram for VelocityFromGlobal:

Inheritance graph
[legend]

List of all members.


Public Member Functions

 VelocityFromGlobal (GlobalPositionModel *model, unsigned int history_length, unsigned int calc_interval)
 Constructor.
virtual ~VelocityFromGlobal ()
 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.

Detailed Description

Velocity from global positions.

Definition at line 36 of file globvelo.h.

Constructor & Destructor Documentation

VelocityFromGlobal::VelocityFromGlobal ( GlobalPositionModel *  model,
unsigned int  history_length,
unsigned int  calc_interval 
)

Constructor.

Parameters:
model global position model
history_length maximum history length
calc_interval calculation interval

Definition at line 39 of file globvelo.cpp.

VelocityFromGlobal::~VelocityFromGlobal (  )  [virtual]

Destructor.

Definition at line 75 of file globvelo.cpp.

Member Function Documentation

void VelocityFromGlobal::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 VelocityModel.

Definition at line 155 of file globvelo.cpp.

References GlobalPositionModel::get_x(), and GlobalPositionModel::get_y().

coordsys_type_t VelocityFromGlobal::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 )

Implements VelocityModel.

Definition at line 222 of file globvelo.cpp.

const char * VelocityFromGlobal::getName ( void   )  const [virtual]

Get name of velocity model.

Returns:
name of velocity model

Implements VelocityModel.

Definition at line 215 of file globvelo.cpp.

void VelocityFromGlobal::getTime ( long int *  sec,
long int *  usec 
) [virtual]

Get time from velocity.

Parameters:
sec contains seconds since the epoch upon return (Unix timestamp)
usec contains microseconds upon return

Implements VelocityModel.

Definition at line 120 of file globvelo.cpp.

void VelocityFromGlobal::getVelocity ( float *  vel_x,
float *  vel_y 
) [virtual]

Method to retrieve velocity information.

Parameters:
vel_x If not NULL contains velocity in X direction after call
vel_y If not NULL contains velocity in Y direction after call

Implements VelocityModel.

Definition at line 128 of file globvelo.cpp.

float VelocityFromGlobal::getVelocityX (  )  [virtual]

Get velocity of tracked object in X direction.

Returns:
velocity in m/s.

Implements VelocityModel.

Definition at line 140 of file globvelo.cpp.

float VelocityFromGlobal::getVelocityY (  )  [virtual]

Get velocity of tracked object in X direction.

Returns:
velocity in m/s.

Implements VelocityModel.

Definition at line 147 of file globvelo.cpp.

void VelocityFromGlobal::reset ( void   )  [virtual]

Reset velocity model Must be called if ball is not visible at any time.

Implements VelocityModel.

Definition at line 208 of file globvelo.cpp.

void VelocityFromGlobal::setPanTilt ( float  pan,
float  tilt 
) [virtual]

Set pan and tilt.

Parameters:
pan pan
tilt tilt

Implements VelocityModel.

Definition at line 81 of file globvelo.cpp.

void VelocityFromGlobal::setRobotPosition ( float  x,
float  y,
float  ori,
timeval  t 
) [virtual]

Set robot position.

Parameters:
x x
y y
ori ori
t timestamp of the pose information

Implements VelocityModel.

Definition at line 87 of file globvelo.cpp.

References fawkes::time_diff_sec().

void VelocityFromGlobal::setRobotVelocity ( float  vel_x,
float  vel_y,
timeval  t 
) [virtual]

Set robot velocity.

Parameters:
vel_x robot velocity in x direction
vel_y robot velocity in y direction
t timestamp of the velocity information

Implements VelocityModel.

Definition at line 99 of file globvelo.cpp.

void VelocityFromGlobal::setTime ( timeval  t  )  [virtual]

Set current time.

Parameters:
t time

Implements VelocityModel.

Definition at line 105 of file globvelo.cpp.

void VelocityFromGlobal::setTimeNow (  )  [virtual]

Get current time from system.

Implements VelocityModel.

Definition at line 113 of file globvelo.cpp.

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