VelocityFromRelative Class Reference

Calculate velocity from relative positions. More...

#include <models/velocity/relvelo.h>

Inheritance diagram for 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.

Detailed Description

Calculate velocity from relative positions.

Definition at line 50 of file relvelo.h.

Constructor & Destructor Documentation

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 44 of file relvelo.cpp.

VelocityFromRelative::~VelocityFromRelative ( ) [virtual]

Destructor.

Definition at line 91 of file relvelo.cpp.

Member Function Documentation

void 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 VelocityModel.

Definition at line 167 of file relvelo.cpp.

References RelativePositionModel::get_distance(), RelativePositionModel::get_x(), RelativePositionModel::get_y(), vel_postime_t::t, fawkes::time_diff_sec(), vel_postime_t::x, and vel_postime_t::y.

coordsys_type_t 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 )

Implements VelocityModel.

Definition at line 396 of file relvelo.cpp.

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

Get name of velocity model.