BallPercept Class Reference

Contains a percept for a ball. More...

#include <BallPercept.h>

Collaboration diagram for BallPercept:

[legend]List of all members.

Public Member Functions
	BallPercept ()
	Constructor.
	BallPercept (const BallPercept &other)
BallPercept &	operator= (const BallPercept &other)
void	reset (unsigned long frameNumber)
	The functions resets the percept.
void	add (Vector2< double > anglesToCenter, double ballRadiusAsAngle, Vector3< double > translationOfCamera, bool isCameraMatrixValid)
	The function adds a seen ball to the percept.
void	add (CameraInfo cameraInfo, Vector2< int > ballCenter, double ballRadiusInPixel, Vector2< double > anglesToCenter, double ballRadiusAsAngle, Vector3< double > translationOfCamera, bool isCameraMatrixValid)
	Adds a seen ball to the percept, specifing its center and radius in image coords.
double	getAngle () const
double	getDistance () const
double	getAngleBearingBased () const
double	getDistanceBearingBased () const
double	getAngleSizeBased () const
double	getDistanceSizeBased () const
double	getAngleIntrinsicBased () const
	The following methods are calculating the ball position based on size, position in image plane coords and camera intrinsic parameters.
double	getDistanceIntrinsicBased () const
void	getOffset (Vector2< double > &offset) const
void	getOffsetSizeBased (Vector2< double > &offset) const
void	getOffsetBearingBased (Vector2< double > &offset) const
void	getOffsetIntrinsic (Vector2< double > &offset) const
	Calculates ball position based on intrinsic camera parameters, instead of opening angle width.
Public Attributes
bool	ballWasSeen
	Indicates if the ball was seen.
unsigned long	frameNumber
	The frame number of the image that was used to create the percept.
Vector2< double >	anglesToCenter
	The horizontal and the vertical angle from the camera to the ball.
Vector3< double >	translationOfCamera
	The translation of the camera relative to the robot.
double	ballRadiusAsAngle
	The radius of the ball in the image (measure: angle).
Vector2< int >	ballCenter
	The center of the ball in pixel coords.
double	ballRadiusInPixel
	The radius of the ball in pixels.
bool	isCameraMatrixValid
	Indicates, if the camera matrix was reliable when the percept was created.
CameraInfo	cameraInfo
Private Member Functions
void	checkOffset (Vector2< double > &offset) const

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Detailed Description

Contains a percept for a ball.

Definition at line 25 of file BallPercept.h.

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Constructor & Destructor Documentation

BallPercept::BallPercept (   )  [inline]

Constructor. Definition at line 31 of file BallPercept.h. References reset().

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BallPercept::BallPercept (  const BallPercept &  other  )  [inline]

Definition at line 32 of file BallPercept.h.

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Member Function Documentation

BallPercept & BallPercept::operator= (  const BallPercept &  other  )

Definition at line 14 of file BallPercept.cpp. References anglesToCenter, ballCenter, ballRadiusAsAngle, ballRadiusInPixel, ballWasSeen, cameraInfo, frameNumber, isCameraMatrixValid, and translationOfCamera.

void BallPercept::reset (  unsigned long  frameNumber  )  [inline]

The functions resets the percept. Definition at line 39 of file BallPercept.h. Referenced by BallPercept(), GT2004ImageProcessor::execute(), and RasterImageProcessor::init().

void BallPercept::add (  Vector2< double >  anglesToCenter, double  ballRadiusAsAngle, Vector3< double >  translationOfCamera, bool  isCameraMatrixValid )

The function adds a seen ball to the percept. Definition at line 28 of file BallPercept.cpp. Referenced by RBallSpecialist2::addBallPercept().

void BallPercept::add (  CameraInfo  cameraInfo, Vector2< int >  ballCenter, double  ballRadiusInPixel, Vector2< double >  anglesToCenter, double  ballRadiusAsAngle, Vector3< double >  translationOfCamera, bool  isCameraMatrixValid )

Adds a seen ball to the percept, specifing its center and radius in image coords. Definition at line 42 of file BallPercept.cpp.

void BallPercept::checkOffset (  Vector2< double > &  offset  )  const [inline, private]

Definition at line 90 of file BallPercept.h. References getRobotConfiguration(), RobotConfiguration::getRobotDimensions(), RobotDimensions::lowerBodyWidth, Vector2< V >::x, and Vector2< V >::y. Referenced by getOffsetBearingBased(), getOffsetIntrinsic(), and getOffsetSizeBased().

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double BallPercept::getAngle (   )  const

Definition at line 151 of file BallPercept.cpp. References Vector2< V >::angle(), and getOffset().

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double BallPercept::getDistance (   )  const

Definition at line 144 of file BallPercept.cpp. References Vector2< V >::abs(), and getOffset(). Referenced by GT2004BallLocator::execute().

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double BallPercept::getAngleBearingBased (   )  const

Definition at line 172 of file BallPercept.cpp. References Vector2< V >::angle(), and getOffsetBearingBased().

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double BallPercept::getDistanceBearingBased (   )  const

Definition at line 158 of file BallPercept.cpp. References Vector2< V >::abs(), and getOffsetBearingBased().

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double BallPercept::getAngleSizeBased (   )  const

Definition at line 179 of file BallPercept.cpp. References Vector2< V >::angle(), and getOffsetSizeBased(). Referenced by GT2004BallLocator::execute().

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double BallPercept::getDistanceSizeBased (   )  const

Definition at line 165 of file BallPercept.cpp. References Vector2< V >::abs(), and getOffsetSizeBased(). Referenced by GT2004BallLocator::execute(), and getOffset().

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double BallPercept::getAngleIntrinsicBased (   )  const

The following methods are calculating the ball position based on size, position in image plane coords and camera intrinsic parameters. Definition at line 193 of file BallPercept.cpp. References Vector2< V >::angle(), and getOffsetIntrinsic().

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double BallPercept::getDistanceIntrinsicBased (   )  const

Definition at line 186 of file BallPercept.cpp. References Vector2< V >::abs(), and getOffsetIntrinsic().

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void BallPercept::getOffset (  Vector2< double > &  offset  )  const

Definition at line 127 of file BallPercept.cpp. References anglesToCenter, getDistanceSizeBased(), getOffsetBearingBased(), getOffsetSizeBased(), isCameraMatrixValid, and Vector2< double >::y. Referenced by GT2004BallLocator::execute(), getAngle(), getDistance(), and GT2004BallLocator::handleSeenBall().

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void BallPercept::getOffsetSizeBased (  Vector2< double > &  offset  )  const

Definition at line 106 of file BallPercept.cpp. References anglesToCenter, ballRadiusAsAngle, checkOffset(), Geometry::getBallDistanceByAngleSize(), sqr, translationOfCamera, Vector2< double >::x, Vector3< double >::x, Vector2< V >::x, Vector3< double >::y, Vector2< V >::y, and Vector3< double >::z. Referenced by getAngleSizeBased(), getDistanceSizeBased(), and getOffset().

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void BallPercept::getOffsetBearingBased (  Vector2< double > &  offset  )  const

Definition at line 62 of file BallPercept.cpp. References anglesToCenter, checkOffset(), translationOfCamera, Vector2< double >::x, Vector3< double >::x, Vector2< V >::x, Vector3< double >::y, Vector2< V >::y, Vector2< double >::y, and Vector3< double >::z. Referenced by getAngleBearingBased(), getDistanceBearingBased(), and getOffset().

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void BallPercept::getOffsetIntrinsic (  Vector2< double > &  offset  )  const

Calculates ball position based on intrinsic camera parameters, instead of opening angle width. Definition at line 79 of file BallPercept.cpp. References anglesToCenter, ballCenter, ballRadiusInPixel, cameraInfo, checkOffset(), Geometry::getDistanceBySize(), sqr, translationOfCamera, Vector2< double >::x, Vector3< double >::x, Vector2< V >::x, Vector2< int >::x, Vector3< double >::y, Vector2< V >::y, Vector2< int >::y, and Vector3< double >::z. Referenced by getAngleIntrinsicBased(), and getDistanceIntrinsicBased().

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Member Data Documentation

bool BallPercept::ballWasSeen

Indicates if the ball was seen. Definition at line 35 of file BallPercept.h. Referenced by GT2004BallLocator::determineNumberOfImagesWith_WithoutBall(), GT2004BallLocator::execute(), operator<<(), operator=(), and operator>>().

unsigned long BallPercept::frameNumber

The frame number of the image that was used to create the percept. Definition at line 36 of file BallPercept.h. Referenced by operator<<(), operator=(), and operator>>().

Vector2<double> BallPercept::anglesToCenter

The horizontal and the vertical angle from the camera to the ball. The reference is not the optical axis but the axes of the coordinate system of the robot. Definition at line 64 of file BallPercept.h. Referenced by getOffset(), getOffsetBearingBased(), getOffsetIntrinsic(), getOffsetSizeBased(), operator<<(), operator=(), and operator>>().

Vector3<double> BallPercept::translationOfCamera

The translation of the camera relative to the robot. Definition at line 69 of file BallPercept.h. Referenced by getOffsetBearingBased(), getOffsetIntrinsic(), getOffsetSizeBased(), operator<<(), operator=(), and operator>>().

double BallPercept::ballRadiusAsAngle

The radius of the ball in the image (measure: angle). Definition at line 74 of file BallPercept.h. Referenced by getOffsetSizeBased(), operator<<(), operator=(), and operator>>().

Vector2<int> BallPercept::ballCenter

The center of the ball in pixel coords. Definition at line 78 of file BallPercept.h. Referenced by getOffsetIntrinsic(), operator<<(), operator=(), and operator>>().

double BallPercept::ballRadiusInPixel

The radius of the ball in pixels. Definition at line 81 of file BallPercept.h. Referenced by getOffsetIntrinsic(), operator<<(), operator=(), and operator>>().

bool BallPercept::isCameraMatrixValid

Indicates, if the camera matrix was reliable when the percept was created. Definition at line 84 of file BallPercept.h. Referenced by getOffset(), operator<<(), operator=(), and operator>>().

CameraInfo BallPercept::cameraInfo

Definition at line 86 of file BallPercept.h. Referenced by getOffsetIntrinsic(), operator<<(), operator=(), and operator>>().

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

• Representations/Perception/BallPercept.h
• Representations/Perception/BallPercept.cpp

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