GT2004BallLocator Class Reference

A BallLocator using GT2004 filtering. More...

#include <GT2004BallLocator.h>

Inheritance diagram for GT2004BallLocator:

[legend]Collaboration diagram for GT2004BallLocator:

[legend]List of all members.


Public Member Functions
	GT2004BallLocator (BallLocatorInterfaces &interfaces)
virtual	~GT2004BallLocator ()
virtual void	execute ()
	Executes the GT2004BallLocator module.
virtual bool	handleMessage (InMessage &message)
	Handles idGT2004Data debug messages.
Private Member Functions
void	determineNumberOfImagesWith_WithoutBall ()
	Counts the number of percepts that contained a ball or no ball.
void	handleSeenBall ()
	Called if ball was seen.
void	handleUnseenBall ()
	Called if ball was not seen.
void	compensateOdometry ()
	Compensates the body movements.
void	setBallState ()
	Checks if the ball rolls by right or left of the robot.
void	setBallStateV2 ()
	Checks if the ball rolls by right or left of the robot, v2.
void	setUnknownResult ()
	setUnknownResult is called if an exception occurs.
bool	isNonSensePos (double x, double y)
	True if passed position is nonsense.
void	addModel (KalmanProcessModelBase *pModel)
	Adds a process model to the list of managed process models.
void	destroyModels ()
	Frees the managed process models.
void	sendProcessModelStates ()
	Sends the process model states as debug messages.
void	drawBallPosition ()
	Draws the global ball positions and data model ball positions on the field.
Vector2< double >	relative2FieldCoord (RobotPose rp, double x, double y)
Private Attributes
unsigned long int	lastFrameNumber
bool	ballWasSeenInLastImage
std::vector< KalmanProcessModelBase * >	kalmanModels
	Vector containing all instantiated process models.
std::vector< KalmanUpdateResult >	kalmanUpdateResults
	Vector containing the result of calls to the update function of the process models.
std::vector< KalmanPredictResult >	kalmanPredictResults
	Vector containing the result of calls to the predict function of the process models.
double	x_rel
	x-position of ball relative to robot
double	y_rel
	y-position relative to robot
double	x_abs
	x-position of ball on field
double	y_abs
	y-position of ball on field
double	vx_rel
	speed of ball in x-direction relative to robot
double	vy_rel
	speed of ball in y-direction relative to robot
double	vx_abs
	speed of ball in x-direction on field
double	vy_abs
	speed of ball in y-direction on field
bool	ballWasSeen
	true if ball was seen
double	last_seen_x_rel
	x-position of last seen ball relative to robot
double	last_seen_y_rel
	y-position of last seen ball relative to robot
OdometryData	lastOdometry
	Last odometry data of robot.
bool	bSendProcessModelStates
	If true, process model states are sent as debug messages.
bool	freshDefend
Vector2< double >	ballSensedPos
Vector2< double >	ballSensedRelPos
unsigned long	ballSensedTime
CameraMatrix	prevCameraMatrix
Vector2< double >	lastBallSeen
Pose2D	lastRobotOdometry
Static Private Attributes
double	dFieldDiagonalLength
	1.2*length of field diagonal

Detailed Description

A BallLocator using GT2004 filtering.

This class is the main class managing different GT2004 process models

Definition at line 24 of file GT2004BallLocator.h.

Constructor & Destructor Documentation

GT2004BallLocator::GT2004BallLocator ( BallLocatorInterfaces & interfaces )

Definition at line 22 of file GT2004BallLocator.cpp.
References addModel(), ballSensedPos, ballSensedRelPos, ballSensedTime, ballWasSeenInLastImage, bSendProcessModelStates, freshDefend, last_seen_x_rel, last_seen_y_rel, vx_abs, vx_rel, vy_abs, vy_rel, Vector2< double >::x, x_abs, x_rel, Vector2< double >::y, y_abs, and y_rel.

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GT2004BallLocator::~GT2004BallLocator ( ) [virtual]

Definition at line 59 of file GT2004BallLocator.cpp.
References destroyModels().

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Member Function Documentation

void GT2004BallLocator::execute ( ) [virtual]

Executes the GT2004BallLocator module.

Implements Module.
Definition at line 65 of file GT2004BallLocator.cpp.
References SeenBallPosition::angleError, SeenBallPosition::ballInFrontOfOpponentGoal, BallPercept::ballWasSeen, bSendProcessModelStates, Goal::color, colorClass, compensateOdometry(), determineNumberOfImagesWith_WithoutBall(), SeenBallPosition::distanceError, drawBallPosition(), BallModel::frameNumber, CameraMatrix::frameNumber, BallPercept::getAngleSizeBased(), BallPercept::getDistance(), BallPercept::getDistanceSizeBased(), BallPercept::getOffset(), getPlayer(), Player::getTeamColor(), LandmarksPercept::goals, handleSeenBall(), handleUnseenBall(), lastBallSeen, lastRobotOdometry, Range< double >::max, Range< double >::min, LandmarksPercept::numberOfGoals, openingAngleHeight_ERS210, prevCameraMatrix, Geometry::relative2FieldCoord(), BallModel::seen, sendProcessModelStates(), setBallState(), Vector2< double >::x, Boundary< double >::x, and Vector2< double >::y.

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bool GT2004BallLocator::handleMessage ( InMessage & message ) [virtual]

Handles idGT2004Data debug messages.

Parameters:

message The message

Returns:
true if message was handled

Reimplemented from Module.
Definition at line 620 of file GT2004BallLocator.cpp.
References OutMessage::bin, InMessage::bin, OutMessage::finishMessage(), getDebugOut(), InMessage::getMessageID(), idGT2004BallLocatorData, kalmanModels, and InMessage::resetReadPosition().

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void GT2004BallLocator::determineNumberOfImagesWith_WithoutBall ( ) [private]

Counts the number of percepts that contained a ball or no ball.

Definition at line 793 of file GT2004BallLocator.cpp.
References BallModel::ballWasSeen, BallPercept::ballWasSeen, ballWasSeenInLastImage, lastFrameNumber, BallModel::numberOfImagesWithBallPercept, and BallModel::numberOfImagesWithoutBallPercept.
Referenced by execute().

void GT2004BallLocator::handleSeenBall ( ) [private]

Called if ball was seen.
Performs update step.
Definition at line 152 of file GT2004BallLocator.cpp.
References CameraMatrix::frameNumber, SystemCall::getCurrentSystemTime(), BallPercept::getOffset(), getRobotConfiguration(), RobotConfiguration::getRobotDimensions(), handleUnseenBall(), idText, isNonSensePos(), kalmanModels, kalmanUpdateResults, last_seen_x_rel, last_seen_y_rel, RobotDimensions::motionCycleTime, normalize(), Vector2< V >::normalize(), PropagatedBallPosition::observedSpeed, OUTPUT, PropagatedBallPosition::positionWhenLastObserved, prevCameraMatrix, BallModel::propagated, Geometry::relative2FieldCoord(), Pose2D::rotation, Pose3D::rotation, BallModel::seen, setUnknownResult(), SeenBallPosition::speed, PropagatedBallPosition::timeOfObservation, SeenBallPosition::timeUntilSeenConsecutively, SeenBallPosition::timeWhenFirstSeenConsecutively, SeenBallPosition::timeWhenLastSeen, vx_abs, vx_rel, vy_abs, vy_rel, Vector2< double >::x, Vector3< V >::x, Vector2< V >::x, x_abs, x_rel, Vector2< double >::y, Vector3< V >::y, Vector2< V >::y, y_abs, and y_rel.
Referenced by execute().

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void GT2004BallLocator::handleUnseenBall ( ) [private]

Called if ball was not seen.
Performs predict step.
Definition at line 330 of file GT2004BallLocator.cpp.
References SystemCall::getCurrentSystemTime(), idText, kalmanModels, kalmanPredictResults, last_seen_x_rel, last_seen_y_rel, PropagatedBallPosition::observedSpeed, OUTPUT, PropagatedBallPosition::positionWhenLastObserved, BallModel::propagated, Geometry::relative2FieldCoord(), Pose2D::rotation, BallModel::seen, setUnknownResult(), PropagatedBallPosition::timeOfObservation, vx_abs, vx_rel, vy_abs, vy_rel, Vector2< double >::x, Vector2< V >::x, x_abs, x_rel, Vector2< double >::y, Vector2< V >::y, y_abs, and y_rel.
Referenced by execute(), and handleSeenBall().

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void GT2004BallLocator::compensateOdometry ( ) [private]

Compensates the body movements.

Definition at line 446 of file GT2004BallLocator.cpp.
References last_seen_x_rel, last_seen_y_rel, Vector2< V >::x, and Vector2< V >::y.
Referenced by execute().

void GT2004BallLocator::setBallState ( ) [private]

Checks if the ball rolls by right or left of the robot.

Definition at line 458 of file GT2004BallLocator.cpp.
References BallState::ballRollsByLeft, BallState::ballRollsByRight, BallState::ballRollsTowardsRobot, BallModel::ballState, BallState::projectedDistanceOnYAxis, BallState::reset(), BallState::timeBallCrossesYAxis, vx_rel, vy_rel, x_rel, and y_rel.
Referenced by execute().

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void GT2004BallLocator::setBallStateV2 ( ) [private]

Checks if the ball rolls by right or left of the robot, v2.

Meanings of the constants:
If the ball is farer away than defendZone2Border from the robot then freshDefend is set to true. This is just a kind of hysteresis to reset the "sensing" for the ballStates.
To sense a ball state, the ball has to be detected first in a range smaller than defendZone2Border, and after that in a range smaller than defendZone1Border. The maximum time between the detections in zone2 and zone1 has to be smaller than speedTrigger (in ms).
The ballHasMovedThreshold is used to determine, if the ball has moved or the robot, since only relative ball positions are used. The difference between the absolute ball positions in zone2 and zone1 has to be greater than this threshold to identify the ball as moving, rather than the robot.
The ballIsFastThreshold is used to determine if the ball rolls fast. Value is mm/s.
Definition at line 494 of file GT2004BallLocator.cpp.
References BallState::ballRollsByLeft, BallState::ballRollsByRight, BallState::ballRollsTowardsRobot, ballSensedPos, ballSensedRelPos, ballSensedTime, BallModel::ballState, Geometry::distanceTo(), freshDefend, SystemCall::getCurrentSystemTime(), RobotPose::getPose(), BallState::projectedDistanceOnYAxis, BallState::reset(), BallModel::seen, BallState::timeBallCrossesYAxis, toDegrees(), vx_rel, Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, and Vector2< V >::y.

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void GT2004BallLocator::setUnknownResult ( ) [private]

setUnknownResult is called if an exception occurs.
However, this should not happen, but if, this prevents the robot from crashing.
Definition at line 588 of file GT2004BallLocator.cpp.
References BallModel::propagated, Vector2< double >::x, x_abs, Vector2< double >::y, and y_abs.
Referenced by handleSeenBall(), and handleUnseenBall().

bool GT2004BallLocator::isNonSensePos ( double x,

double y

) [private]

True if passed position is nonsense.

Parameters:

x x-position in millimeter

y y-position in millimeter

Returns:
true if position is nonsense

Definition at line 595 of file GT2004BallLocator.cpp.
References dFieldDiagonalLength.
Referenced by handleSeenBall().

void GT2004BallLocator::addModel ( KalmanProcessModelBase * pModel ) [private]

Adds a process model to the list of managed process models.

Parameters:

pModel Pointer to process model derived from GT2004ProcessModelBase

Definition at line 604 of file GT2004BallLocator.cpp.
References kalmanModels, kalmanPredictResults, and kalmanUpdateResults.
Referenced by GT2004BallLocator().

void GT2004BallLocator::destroyModels ( ) [private]

Frees the managed process models.

Definition at line 612 of file GT2004BallLocator.cpp.
References kalmanModels.
Referenced by ~GT2004BallLocator().

void GT2004BallLocator::sendProcessModelStates ( ) [private]

Sends the process model states as debug messages.

Definition at line 669 of file GT2004BallLocator.cpp.
References OutMessage::bin, OutMessage::finishMessage(), SystemCall::getCurrentSystemTime(), getDebugOut(), idGT2004BallLocatorData, kalmanModels, kalmanPredictResults, kalmanUpdateResults, vx_rel, vy_rel, x_rel, and y_rel.
Referenced by execute().

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void GT2004BallLocator::drawBallPosition ( ) [private]

Draws the global ball positions and data model ball positions on the field.

Definition at line 741 of file GT2004BallLocator.cpp.
References CIRCLE, DEBUG_DRAWING_FINISHED, kalmanModels, kalmanPredictResults, kalmanUpdateResults, LINE, Geometry::relative2FieldCoord(), vx_abs, vy_abs, Vector2< V >::x, x_abs, Vector2< V >::y, and y_abs.
Referenced by execute().

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Vector2<double> GT2004BallLocator::relative2FieldCoord ( RobotPose rp,

double x,

double y

) [private]

Member Data Documentation

unsigned long int GT2004BallLocator::lastFrameNumber [private]

Definition at line 98 of file GT2004BallLocator.h.
Referenced by determineNumberOfImagesWith_WithoutBall().

bool GT2004BallLocator::ballWasSeenInLastImage [private]

Definition at line 99 of file GT2004BallLocator.h.
Referenced by determineNumberOfImagesWith_WithoutBall(), and GT2004BallLocator().

std::vector<KalmanProcessModelBase*> GT2004BallLocator::kalmanModels [private]

Vector containing all instantiated process models.

Definition at line 102 of file GT2004BallLocator.h.
Referenced by addModel(), destroyModels(), drawBallPosition(), handleMessage(), handleSeenBall(), handleUnseenBall(), and sendProcessModelStates().

std::vector<KalmanUpdateResult> GT2004BallLocator::kalmanUpdateResults [private]

Vector containing the result of calls to the update function of the process models.

Definition at line 105 of file GT2004BallLocator.h.
Referenced by addModel(), drawBallPosition(), handleSeenBall(), and sendProcessModelStates().

std::vector<KalmanPredictResult> GT2004BallLocator::kalmanPredictResults [private]

Vector containing the result of calls to the predict function of the process models.

Definition at line 108 of file GT2004BallLocator.h.
Referenced by addModel(), drawBallPosition(), handleUnseenBall(), and sendProcessModelStates().

double GT2004BallLocator::x_rel [private]

x-position of ball relative to robot

Definition at line 110 of file GT2004BallLocator.h.
Referenced by GT2004BallLocator(), handleSeenBall(), handleUnseenBall(), sendProcessModelStates(), and setBallState().

double GT2004BallLocator::y_rel [private]

y-position relative to robot

Definition at line 111 of file GT2004BallLocator.h.
Referenced by GT2004BallLocator(), handleSeenBall(), handleUnseenBall(), sendProcessModelStates(), and setBallState().

double GT2004BallLocator::x_abs [private]

x-position of ball on field

Definition at line 112 of file GT2004BallLocator.h.
Referenced by drawBallPosition(), GT2004BallLocator(), handleSeenBall(), handleUnseenBall(), and setUnknownResult().

double GT2004BallLocator::y_abs [private]

y-position of ball on field

Definition at line 113 of file GT2004BallLocator.h.
Referenced by drawBallPosition(), GT2004BallLocator(), handleSeenBall(), handleUnseenBall(), and setUnknownResult().

double GT2004BallLocator::vx_rel [private]

speed of ball in x-direction relative to robot

Definition at line 114 of file GT2004BallLocator.h.
Referenced by GT2004BallLocator(), handleSeenBall(), handleUnseenBall(), sendProcessModelStates(), setBallState(), and setBallStateV2().

double GT2004BallLocator::vy_rel [private]

speed of ball in y-direction relative to robot

Definition at line 115 of file GT2004BallLocator.h.
Referenced by GT2004BallLocator(), handleSeenBall(), handleUnseenBall(), sendProcessModelStates(), and setBallState().

double GT2004BallLocator::vx_abs [private]

speed of ball in x-direction on field

Definition at line 117 of file GT2004BallLocator.h.
Referenced by drawBallPosition(), GT2004BallLocator(), handleSeenBall(), and handleUnseenBall().

double GT2004BallLocator::vy_abs [private]

speed of ball in y-direction on field

Definition at line 118 of file GT2004BallLocator.h.
Referenced by drawBallPosition(), GT2004BallLocator(), handleSeenBall(), and handleUnseenBall().

bool GT2004BallLocator::ballWasSeen [private]

true if ball was seen

Definition at line 119 of file GT2004BallLocator.h.

double GT2004BallLocator::last_seen_x_rel [private]

x-position of last seen ball relative to robot

Definition at line 120 of file GT2004BallLocator.h.
Referenced by compensateOdometry(), GT2004BallLocator(), handleSeenBall(), and handleUnseenBall().

double GT2004BallLocator::last_seen_y_rel [private]

y-position of last seen ball relative to robot

Definition at line 121 of file GT2004BallLocator.h.
Referenced by compensateOdometry(), GT2004BallLocator(), handleSeenBall(), and handleUnseenBall().

OdometryData GT2004BallLocator::lastOdometry [private]

Last odometry data of robot.

Definition at line 124 of file GT2004BallLocator.h.

bool GT2004BallLocator::bSendProcessModelStates [private]

If true, process model states are sent as debug messages.

Definition at line 127 of file GT2004BallLocator.h.
Referenced by execute(), and GT2004BallLocator().

double GT2004BallLocator::dFieldDiagonalLength [static, private]

Initial value:
1.2*sqrt((2.0*xPosOpponentGoal)*(2.0*xPosOpponentGoal) + (2.0*yPosLeftFlags)*(2.0*yPosLeftFlags))
1.2*length of field diagonal

Definition at line 18 of file GT2004BallLocator.cpp.
Referenced by isNonSensePos().

bool GT2004BallLocator::freshDefend [private]

Definition at line 134 of file GT2004BallLocator.h.
Referenced by GT2004BallLocator(), and setBallStateV2().

Vector2<double> GT2004BallLocator::ballSensedPos [private]

Definition at line 135 of file GT2004BallLocator.h.
Referenced by GT2004BallLocator(), and setBallStateV2().

Vector2<double> GT2004BallLocator::ballSensedRelPos [private]

Definition at line 136 of file GT2004BallLocator.h.
Referenced by GT2004BallLocator(), and setBallStateV2().

unsigned long GT2004BallLocator::ballSensedTime [private]

Definition at line 137 of file GT2004BallLocator.h.
Referenced by GT2004BallLocator(), and setBallStateV2().

CameraMatrix GT2004BallLocator::prevCameraMatrix [private]

Definition at line 139 of file GT2004BallLocator.h.
Referenced by execute(), and handleSeenBall().

Vector2<double> GT2004BallLocator::lastBallSeen [private]

Definition at line 142 of file GT2004BallLocator.h.
Referenced by execute().

Pose2D GT2004BallLocator::lastRobotOdometry [private]

Definition at line 144 of file GT2004BallLocator.h.
Referenced by execute().

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

Modules/BallLocator/GT2004BallLocator.h
Modules/BallLocator/GT2004BallLocator.cpp

Generated on Thu Sep 23 20:06:41 2004 for GT2004 by

1.3.6

GT2004BallLocator Class Reference

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation