VelocityGlobalFromRelative Class Reference

Global velocity from relative velocities. More...

#include <models/velocity/globfromrel.h>

Inheritance diagram for VelocityGlobalFromRelative:

Inheritance graph
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List of all members.


Public Member Functions

 VelocityGlobalFromRelative (VelocityModel *rel_velo_model, RelativePositionModel *rel_pos_model)
 Destructor.
virtual ~VelocityGlobalFromRelative ()
 Destructor.
virtual const char * getName () const
 Get name of velocity model.
virtual coordsys_type_t getCoordinateSystem ()
 Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or COORDSYS_ROBOT_WORLD.
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.

Detailed Description

Global velocity from relative velocities.

Definition at line 35 of file globfromrel.h.

Constructor & Destructor Documentation

VelocityGlobalFromRelative::VelocityGlobalFromRelative ( VelocityModel *  rel_velo_model,
RelativePositionModel *  rel_pos_model 
)

Destructor.

Parameters:
rel_velo_model relative velocity model
rel_pos_model relative position model

Definition at line 44 of file globfromrel.cpp.

References VelocityModel::getCoordinateSystem().

VelocityGlobalFromRelative::~VelocityGlobalFromRelative (  )  [virtual]

Destructor.

Definition at line 87 of file globfromrel.cpp.

Member Function Documentation

void VelocityGlobalFromRelative::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 161 of file globfromrel.cpp.

References RelativePositionModel::get_distance(), and VelocityModel::getVelocity().

coordsys_type_t VelocityGlobalFromRelative::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 198 of file globfromrel.cpp.

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

Get name of velocity model.

Returns:
name of velocity model

Implements VelocityModel.

Definition at line 191 of file globfromrel.cpp.

void VelocityGlobalFromRelative::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 126 of file globfromrel.cpp.

void VelocityGlobalFromRelative::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 134 of file globfromrel.cpp.

float VelocityGlobalFromRelative::getVelocityX (  )  [virtual]

Get velocity of tracked object in X direction.

Returns:
velocity in m/s.

Implements VelocityModel.

Definition at line 146 of file globfromrel.cpp.

float VelocityGlobalFromRelative::getVelocityY (  )  [virtual]

Get velocity of tracked object in X direction.

Returns:
velocity in m/s.

Implements VelocityModel.

Definition at line 153 of file globfromrel.cpp.

void VelocityGlobalFromRelative::reset ( void   )  [virtual]

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

Implements VelocityModel.

Definition at line 178 of file globfromrel.cpp.

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

Set pan and tilt.

Parameters:
pan pan
tilt tilt

Implements VelocityModel.

Definition at line 93 of file globfromrel.cpp.

void VelocityGlobalFromRelative::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 99 of file globfromrel.cpp.

References fawkes::time_diff_sec().

void VelocityGlobalFromRelative::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 109 of file globfromrel.cpp.

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

Set current time.

Parameters:
t time

Implements VelocityModel.

Definition at line 114 of file globfromrel.cpp.

void VelocityGlobalFromRelative::setTimeNow (  )  [virtual]

Get current time from system.

Implements VelocityModel.

Definition at line 120 of file globfromrel.cpp.

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