LandmarksPercept Class Reference

The class represents all detected landmark percepts. More...

#include <LandmarksPercept.h>

Collaboration diagram for LandmarksPercept:

[legend]List of all members.

Public Member Functions
	LandmarksPercept ()
	Constructor.
void	reset (unsigned long frameNumber)
	The function resets the object, i.e.
void	addFlag (Flag::FlagType type, const Vector2< double > &position, const ConditionalBoundary &boundary)
	The function adds a flag to the flag array.
void	addFlag (Flag::FlagType type, bool ownTeamColorIsBlue, const ConditionalBoundary &boundary)
	The function adds a flag to the flag array.
void	estimateOffsetForFlags (const Vector2< double > &cameraOffset)
	Calculates distance and angle for each flag.
void	addGoal (colorClass color, const Vector2< double > &leftPost, const Vector2< double > &rightPost, const ConditionalBoundary &boundary)
	The function adds a goal to the goal array.
void	addGoal (colorClass color, bool ownTeamColorIsBlue, const ConditionalBoundary &boundary)
	The function adds a goal to the goal array.
void	estimateOffsetForGoals (const Vector2< double > &cameraOffset)
	Calculates distance and angle for each goal.
Public Attributes
Flag	flags [4]
	The array of up to 4 flags.
int	numberOfFlags
	The number of flags actually stored in the array.
Goal	goals [2]
	The array of up to 2 goals.
int	numberOfGoals
	The number of goals actually stored in the array.
Vector3< double >	cameraOffset
	The camera offset relative to position of the robot's neck.
unsigned long	frameNumber
	The frame number when perceived.

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Detailed Description

The class represents all detected landmark percepts.

Definition at line 156 of file LandmarksPercept.h.

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Constructor & Destructor Documentation

LandmarksPercept::LandmarksPercept (   )

Constructor. Resets the object. Definition at line 47 of file LandmarksPercept.cpp. References reset().

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Member Function Documentation

void LandmarksPercept::reset (  unsigned long  frameNumber  )

The function resets the object, i.e. the numbers of flags and goals are set to 0. Definition at line 52 of file LandmarksPercept.cpp. References numberOfFlags, and numberOfGoals. Referenced by GT2004ImageProcessor::execute(), RasterImageProcessor::init(), and LandmarksPercept().

void LandmarksPercept::addFlag (  Flag::FlagType  type, const Vector2< double > &  position, const ConditionalBoundary &  boundary )

The function adds a flag to the flag array. Definition at line 58 of file LandmarksPercept.cpp. References flags, numberOfFlags, Flag::position, and Flag::type. Referenced by RasterImageProcessor::addFlag().

void LandmarksPercept::addFlag (  Flag::FlagType  type, bool  ownTeamColorIsBlue, const ConditionalBoundary &  boundary )

The function adds a flag to the flag array. Definition at line 73 of file LandmarksPercept.cpp. References Vector2< V >::x, and Vector2< V >::y.

void LandmarksPercept::estimateOffsetForFlags (  const Vector2< double > &  cameraOffset  )

Calculates distance and angle for each flag. Todo: improve, isOnBorder(flag.x.?) not checked Definition at line 112 of file LandmarksPercept.cpp. References Vector2< double >::abs(), Flag::angle, Flag::angleValidity, Flag::distance, Flag::distanceValidity, Range< double >::getCenter(), Range< double >::getSize(), ConditionalBoundary::isOnBorder(), Range< double >::max, Range< double >::min, Pose2D::translation, Boundary< double >::x, and Boundary< double >::y. Referenced by BoxSpecialist::executePostProcessing().

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void LandmarksPercept::addGoal (  colorClass  color, const Vector2< double > &  leftPost, const Vector2< double > &  rightPost, const ConditionalBoundary &  boundary )

The function adds a goal to the goal array. Definition at line 170 of file LandmarksPercept.cpp. References Goal::color, goals, Goal::leftPost, numberOfGoals, and Goal::rightPost. Referenced by BoxSpecialist::fusionGoal(), GoalRecognizer::scanLinesForGoals(), GT2004GoalRecognizer::scanLinesForGoals(), and BoxSpecialist::searchGoal().

void LandmarksPercept::addGoal (  colorClass  color, bool  ownTeamColorIsBlue, const ConditionalBoundary &  boundary )

The function adds a goal to the goal array. Definition at line 185 of file LandmarksPercept.cpp. References colorClass, Vector2< V >::x, and Vector2< V >::y.

void LandmarksPercept::estimateOffsetForGoals (  const Vector2< double > &  cameraOffset  )

Calculates distance and angle for each goal. Todo: distinguish between height of left and right post isOnBorder(flag.?.?) not checked Definition at line 218 of file LandmarksPercept.cpp. References Vector2< double >::abs(), Goal::angle, Goal::angleValidity, Goal::distance, Goal::distanceValidity, Range< double >::getCenter(), idText, ConditionalBoundary::isOnBorder(), Range< double >::max, Range< double >::min, OUTPUT, Goal::rotation, Pose2D::translation, Boundary< double >::x, and Boundary< double >::y. Referenced by BoxSpecialist::executePostProcessing(), GoalRecognizer::scanLinesForGoals(), and GT2004GoalRecognizer::scanLinesForGoals().

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Member Data Documentation

Flag LandmarksPercept::flags[4]

The array of up to 4 flags. Definition at line 159 of file LandmarksPercept.h. Referenced by addFlag(), GT2004SelfLocator::execute(), GT2004SelfLocator::generatePoseTemplates(), operator<<(), operator>>(), and LandmarksState::update().

int LandmarksPercept::numberOfFlags

The number of flags actually stored in the array. Definition at line 160 of file LandmarksPercept.h. Referenced by addFlag(), GT2004SelfLocator::execute(), GT2004SelfLocator::generatePoseTemplates(), operator<<(), operator>>(), reset(), and LandmarksState::update().

Goal LandmarksPercept::goals[2]

The array of up to 2 goals. Definition at line 161 of file LandmarksPercept.h. Referenced by addGoal(), NoOdometrySelfLocator::execute(), GT2004SelfLocator::execute(), GT2004BallLocator::execute(), GT2004SelfLocator::getBearing(), operator<<(), and operator>>().

int LandmarksPercept::numberOfGoals

The number of goals actually stored in the array. Definition at line 162 of file LandmarksPercept.h. Referenced by addGoal(), NoOdometrySelfLocator::execute(), GT2004SelfLocator::execute(), GT2004BallLocator::execute(), GT2004SelfLocator::generatePoseTemplates(), operator<<(), operator>>(), and reset().

Vector3<double> LandmarksPercept::cameraOffset

The camera offset relative to position of the robot's neck. Definition at line 163 of file LandmarksPercept.h. Referenced by NoOdometrySelfLocator::execute(), GT2004SelfLocator::execute(), GT2004ImageProcessor::execute(), GT2004SelfLocator::generatePoseTemplates(), RasterImageProcessor::init(), operator<<(), and operator>>().

unsigned long LandmarksPercept::frameNumber

The frame number when perceived. Definition at line 164 of file LandmarksPercept.h. Referenced by NoOdometrySelfLocator::execute(), GT2004SelfLocator::execute(), operator<<(), and operator>>().

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

• Representations/Perception/LandmarksPercept.h
• Representations/Perception/LandmarksPercept.cpp

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