ObstaclesPercept Class Reference

The class represents perceived obstacles on the field. More...

#include <ObstaclesPercept.h>

Collaboration diagram for ObstaclesPercept:

[legend]List of all members.

Public Types
enum	ObstacleType {   border, goal, teammate,   opponent, unknown }
enum	{ maxNumberOfPoints = 200 }
enum	{ ownGoal = 0, opponentGoal = 1 }
Public Member Functions
	ObstaclesPercept ()
	Constructor.
void	reset (unsigned long frameNumber)
	The function empties the obstacle percept.
void	add (const Vector2< int > &nearPoint, const Vector2< int > &farPoint, bool farPointIsOnImageBorder)
	The function adds a new pair of points to the obstacle percept.
void	add (const Vector2< int > &nearPoint, const Vector2< int > &farPoint, bool farPointIsOnImageBorder, ObstacleType obstacleType)
	The function adds a new pair of points to the obstacle percept.
Public Attributes
Vector2< int >	nearPoints [maxNumberOfPoints]
	The nearest green points.
Vector2< int >	farPoints [maxNumberOfPoints]
	The most distant green points.
bool	farPointIsOnImageBorder [maxNumberOfPoints]
	Indicates if the far point is an obstacle or the image border.
ObstacleType	obstacleType [maxNumberOfPoints]
int	numberOfPoints
	The number of pairs of points.
bool	angleToFreePartOfGoalWasDetermined [2]
double	angleToFreePartOfGoal [2]
double	distanceToFreePartOfGoal [2]
double	widthOfFreePartOfGoal [2]
unsigned long	frameNumber
	The frame number when perceived.

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Detailed Description

The class represents perceived obstacles on the field.

Definition at line 18 of file ObstaclesPercept.h.

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Member Enumeration Documentation

enum ObstaclesPercept::ObstacleType

Enumeration values: border  goal  teammate  opponent  unknown  Definition at line 21 of file ObstaclesPercept.h.

anonymous enum

Enumeration values: maxNumberOfPoints  Definition at line 22 of file ObstaclesPercept.h.

anonymous enum

Enumeration values: ownGoal  opponentGoal  Definition at line 31 of file ObstaclesPercept.h.

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Constructor & Destructor Documentation

ObstaclesPercept::ObstaclesPercept (   )  [inline]

Constructor. Definition at line 39 of file ObstaclesPercept.h. References reset().

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Member Function Documentation

void ObstaclesPercept::reset (  unsigned long  frameNumber  )

The function empties the obstacle percept. Definition at line 10 of file ObstaclesPercept.cpp. Referenced by GT2004ImageProcessor::execute(), RasterImageProcessor::init(), and ObstaclesPercept().

void ObstaclesPercept::add (  const Vector2< int > &  nearPoint, const Vector2< int > &  farPoint, bool  farPointIsOnImageBorder )

The function adds a new pair of points to the obstacle percept. Parameters: nearPoint  The near point. farPoint  The far point. farPointIsOnImageBorder  Specifies whether farPoint was found on the image border Definition at line 23 of file ObstaclesPercept.cpp. References farPointIsOnImageBorder, farPoints, and nearPoints. Referenced by RasterImageProcessor::addObstaclePoints(), and GT2004ImageProcessor::scan().

void ObstaclesPercept::add (  const Vector2< int > &  nearPoint, const Vector2< int > &  farPoint, bool  farPointIsOnImageBorder, ObstacleType  obstacleType )

The function adds a new pair of points to the obstacle percept. Parameters: nearPoint  The near point. farPoint  The far point. farPointIsOnImageBorder  Specifies whether farPoint was found on the image border obstacleType  The type of the obstacle Definition at line 33 of file ObstaclesPercept.cpp. References farPointIsOnImageBorder, farPoints, and nearPoints.

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Member Data Documentation

Vector2<int> ObstaclesPercept::nearPoints[maxNumberOfPoints]

The nearest green points. Definition at line 24 of file ObstaclesPercept.h. Referenced by add(), GT2004ObstaclesLocator::addObstaclesPercept(), operator<<(), and operator>>().

Vector2<int> ObstaclesPercept::farPoints[maxNumberOfPoints]

The most distant green points. Definition at line 25 of file ObstaclesPercept.h. Referenced by add(), GT2004ObstaclesLocator::addObstaclesPercept(), operator<<(), and operator>>().

bool ObstaclesPercept::farPointIsOnImageBorder[maxNumberOfPoints]

Indicates if the far point is an obstacle or the image border. Definition at line 26 of file ObstaclesPercept.h. Referenced by add(), GT2004ObstaclesLocator::addObstaclesPercept(), operator<<(), and operator>>().

ObstacleType ObstaclesPercept::obstacleType[maxNumberOfPoints]

Definition at line 27 of file ObstaclesPercept.h. Referenced by GT2004ObstaclesLocator::addObstaclesPercept(), operator<<(), and operator>>().

int ObstaclesPercept::numberOfPoints

The number of pairs of points. Definition at line 29 of file ObstaclesPercept.h. Referenced by GT2004ObstaclesLocator::addObstaclesPercept(), operator<<(), and operator>>().

bool ObstaclesPercept::angleToFreePartOfGoalWasDetermined[2]

Definition at line 32 of file ObstaclesPercept.h. Referenced by BoxSpecialist::detectFreePartOfGoal(), GT2004ObstaclesLocator::determineFreePartsOfGoals(), operator<<(), and operator>>().

double ObstaclesPercept::angleToFreePartOfGoal[2]

Definition at line 33 of file ObstaclesPercept.h. Referenced by BoxSpecialist::detectFreePartOfGoal(), GT2004ObstaclesLocator::determineFreePartsOfGoals(), operator<<(), and operator>>().

double ObstaclesPercept::distanceToFreePartOfGoal[2]

Definition at line 33 of file ObstaclesPercept.h. Referenced by BoxSpecialist::detectFreePartOfGoal(), GT2004ObstaclesLocator::determineFreePartsOfGoals(), operator<<(), and operator>>().

double ObstaclesPercept::widthOfFreePartOfGoal[2]

Definition at line 33 of file ObstaclesPercept.h. Referenced by BoxSpecialist::detectFreePartOfGoal(), GT2004ObstaclesLocator::determineFreePartsOfGoals(), operator<<(), and operator>>().

unsigned long ObstaclesPercept::frameNumber

The frame number when perceived. Definition at line 64 of file ObstaclesPercept.h. Referenced by GT2004ObstaclesLocator::execute(), operator<<(), and operator>>().

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

• Representations/Perception/ObstaclesPercept.h
• Representations/Perception/ObstaclesPercept.cpp

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