VelocityModel Class Reference

Velocity model interface. More...

#include <models/velocity/velocitymodel.h>

Inheritance diagram for VelocityModel:

Inheritance graph
[legend]

List of all members.


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 30 of file velocitymodel.h.

Constructor & Destructor Documentation

VelocityModel::~VelocityModel (  )  [virtual]

Virtual empty destructor.

Definition at line 96 of file velocitymodel.cpp.

Member Function Documentation

void 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 VelocityGlobalFromRelative, VelocityFromGlobal, and VelocityFromRelative.

coordsys_type_t 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 )

Implemented in VelocityGlobalFromRelative, VelocityFromGlobal, and VelocityFromRelative.

Referenced by VelocityGlobalFromRelative::VelocityGlobalFromRelative().

const char * VelocityModel::getName ( void   )  const [pure virtual]

Get name of velocity model.

Returns:
name of velocity model

Implemented in VelocityGlobalFromRelative, VelocityFromGlobal, and VelocityFromRelative.

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

Get time from velocity.

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

Implemented in VelocityGlobalFromRelative, VelocityFromGlobal, and VelocityFromRelative.

void VelocityModel::getVelocity ( float *  vel_x,
float *  vel_y 
) [pure 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

Implemented in VelocityGlobalFromRelative, VelocityFromGlobal, and VelocityFromRelative.

Referenced by VelocityGlobalFromRelative::calc().

float VelocityModel::getVelocityX (  )  [pure virtual]

Get velocity of tracked object in X direction.

Returns:
velocity in m/s.

Implemented in VelocityGlobalFromRelative, VelocityFromGlobal, and VelocityFromRelative.

float VelocityModel::getVelocityY (  )  [pure virtual]

Get velocity of tracked object in X direction.

Returns:
velocity in m/s.

Implemented in VelocityGlobalFromRelative, VelocityFromGlobal, and VelocityFromRelative.

void VelocityModel::reset ( void   )  [pure virtual]

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

Implemented in VelocityGlobalFromRelative, VelocityFromGlobal, and VelocityFromRelative.

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

Set pan and tilt.

Parameters:
pan pan
tilt tilt

Implemented in VelocityGlobalFromRelative, VelocityFromGlobal, and VelocityFromRelative.

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

Set robot position.

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

Implemented in VelocityGlobalFromRelative, VelocityFromGlobal, and VelocityFromRelative.

void VelocityModel::setRobotVelocity ( float  vel_x,
float  vel_y,
timeval  t 
) [pure 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

Implemented in VelocityGlobalFromRelative, VelocityFromGlobal, and VelocityFromRelative.

void VelocityModel::setTime ( timeval  t  )  [pure virtual]

Set current time.

Parameters:
t time

Implemented in VelocityGlobalFromRelative, VelocityFromGlobal, and VelocityFromRelative.

void VelocityModel::setTimeNow (  )  [pure virtual]

Get current time from system.

Implemented in VelocityGlobalFromRelative, VelocityFromGlobal, and VelocityFromRelative.

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