Fawkes API
Fawkes Development Version
velocitymodel.cpp
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/***************************************************************************
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* velocitymodel.cpp - Abstract class defining a velocity model
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*
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* Created: Thu Mar 29 17:02:09 2007
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* Copyright 2005-2007 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version. A runtime exception applies to
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* this software (see LICENSE.GPL_WRE file mentioned below for details).
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
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*/
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#include <fvmodels/velocity/velocitymodel.h>
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namespace
firevision {
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/** @class VelocityModel <fvmodels/velocity/velocitymodel.h>
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* Velocity model interface.
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*
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*
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* @fn const char * VelocityModel::getName() const
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* Get name of velocity model
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* @return name of velocity model
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*
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* @fn void VelocityModel::setPanTilt(float pan, float tilt)
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* Set pan and tilt.
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* @param pan pan
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* @param tilt tilt
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*
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* @fn void VelocityModel::setRobotPosition(float x, float y, float ori, timeval t)
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* Set robot position.
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* @param x x
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* @param y y
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* @param ori ori
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* @param t timestamp of the pose information
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*
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* @fn void VelocityModel::setRobotVelocity(float vel_x, float vel_y, timeval t)
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* Set robot velocity.
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* @param vel_x robot velocity in x direction
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* @param vel_y robot velocity in y direction
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* @param t timestamp of the velocity information
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*
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* @fn void VelocityModel::setTime(timeval t)
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* Set current time.
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* @param t time
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*
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* @fn void VelocityModel::setTimeNow()
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* Get current time from system.
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*
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* @fn void VelocityModel::getTime(long int *sec, long int *usec)
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* Get time from velocity.
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* @param sec contains seconds since the epoch upon return (Unix timestamp)
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* @param usec contains microseconds upon return
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*
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* @fn void VelocityModel::getVelocity(float *vel_x, float *vel_y)
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* Method to retrieve velocity information
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* @param vel_x If not NULL contains velocity in X direction after call
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* @param vel_y If not NULL contains velocity in Y direction after call
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*
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* @fn float VelocityModel::getVelocityX()
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* Get velocity of tracked object in X direction.
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* @return velocity in m/s.
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*
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* @fn float VelocityModel::getVelocityY()
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* Get velocity of tracked object in X direction.
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* @return velocity in m/s.
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*
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* @fn void VelocityModel::calc()
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* Calculate velocity values from given data
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* This method must be called after all relevent data (set*) has been
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* set. After calc() the velocity values can be retrieved
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*
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* @fn void VelocityModel::reset()
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* Reset velocity model
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* Must be called if ball is not visible at any time
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*
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* @fn coordsys_type_t VelocityModel::getCoordinateSystem()
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* Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or
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* COORDSYS_ROBOT_WORLD. ROBOT denotes velocities relative to the robot
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* (which can be tramsformed to global velocities by:
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* glob_vel_x = rel_vel_x * cos( robot_ori ) - rel_vel_y * sin( robot_ori )
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* WORLD denotes velocities in the robot coordinate system
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* glob_vel_y = rel_vel_x * sin( robot_ori ) + rel_vel_y * cos( robot_ori )
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*/
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/** Virtual empty destructor. */
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VelocityModel::~VelocityModel
()
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{
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}
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}
// end namespace firevision
firevision::VelocityModel::~VelocityModel
virtual ~VelocityModel()
Virtual empty destructor.
Definition:
velocitymodel.cpp:98
src
libs
fvmodels
velocity
velocitymodel.cpp
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