SimpleMotionRecognition Class Reference

#include <SimpleMotionRecognition.h>

Inheritance diagram for SimpleMotionRecognition:

[legend]Collaboration diagram for SimpleMotionRecognition:

[legend]List of all members.

Public Member Functions
	SimpleMotionRecognition (const SensorBehaviorControlInterfaces &interfaces)
	Constructor.
int	searchTilt ()
int	searchPan ()
bool	headIsNotInMotion ()
Vector2< long >	getAngleYZ (Vector2< int > point)
Vector2< int > *	getMotion ()
virtual void	execute ()
	Executes the module.
virtual bool	handleMessage (InMessage &message)
	Called from a MessageQueue to distribute messages.
Private Attributes
CameraMatrix	previousCameraMatrix
Image	imageBuffer [SIMPLEIMAGEBUFFERSIZE]
int	start
int	currentImage
int	imagesLeft
int	wait
int	reset
int	frameDiff
int	searchStatus
int	halfCameraResolutionHeigth
int	halfCameraResolutionWidth
double	halfCameraOpeningAngleHeigth
double	halfCameraOpeningAngleWidth
Vector2< int > *	motion
Vector2< long >	newHeadPos

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Detailed Description

Author:

Sebastian Ordyniak

Marten Richert

Definition at line 33 of file SimpleMotionRecognition.h.

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Constructor & Destructor Documentation

SimpleMotionRecognition::SimpleMotionRecognition (  const SensorBehaviorControlInterfaces &  interfaces  )

Constructor. Parameters: interfaces  The paramters of the SimpleMotionRecognition module. Definition at line 12 of file SimpleMotionRecognition.cpp. References Image::cameraInfo, halfCameraOpeningAngleHeigth, halfCameraOpeningAngleWidth, halfCameraResolutionHeigth, halfCameraResolutionWidth, CameraInfo::openingAngleHeight, CameraInfo::openingAngleWidth, reset, RESETCONST, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, searchStatus, SIMPLEIMAGEBUFFERSIZE, and WAITMIN.

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Member Function Documentation

int SimpleMotionRecognition::searchTilt (   )

Definition at line 28 of file SimpleMotionRecognition.cpp. References HeadControlMode::directTilt, and searchStatus. Referenced by execute().

int SimpleMotionRecognition::searchPan (   )

Definition at line 35 of file SimpleMotionRecognition.cpp. References HeadControlMode::directPan, searchStatus, and WAITMIN. Referenced by execute().

bool SimpleMotionRecognition::headIsNotInMotion (   )

Definition at line 51 of file SimpleMotionRecognition.cpp. References frameDiff, halfCameraOpeningAngleHeigth, halfCameraOpeningAngleWidth, previousCameraMatrix, toMicroRad(), WAITCONST, and WAITMIN. Referenced by execute().

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Vector2< long > SimpleMotionRecognition::getAngleYZ (  Vector2< int >  point  )

Definition at line 70 of file SimpleMotionRecognition.cpp. References halfCameraOpeningAngleHeigth, halfCameraOpeningAngleWidth, halfCameraResolutionHeigth, halfCameraResolutionWidth, point, toMicroRad(), Vector2< int >::x, and Vector2< int >::y. Referenced by execute().

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Vector2< int > * SimpleMotionRecognition::getMotion (   )

Definition at line 79 of file SimpleMotionRecognition.cpp. References Image::cameraInfo, MINDIFF, CameraInfo::resolutionHeight, and SIMPLEIMAGEBUFFERSIZE. Referenced by execute().

void SimpleMotionRecognition::execute (   )  [virtual]

Executes the module. Implements Module. Definition at line 112 of file SimpleMotionRecognition.cpp. References ARROW, DEBUG_DRAWING_FINISHED, HeadControlMode::directPan, HeadControlMode::directRoll, HeadControlMode::directTilt, frameDiff, Image::frameNumber, getAngleYZ(), getMotion(), HeadControlMode::headControlMode, headIsNotInMotion(), MotionRequest::motionType, newHeadPos, previousCameraMatrix, reset, RESETCONST, searchPan(), searchStatus, searchTilt(), SIMPLEIMAGEBUFFERSIZE, SPEEDFAKTOR, Vector2< long >::x, Vector2< int >::x, Vector2< long >::y, and Vector2< int >::y.

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

Called from a MessageQueue to distribute messages. Use message.getMessageID to decide if the message is relavant for the MesssageHandler derivate. Use message.bin, message.text or message.config as In streams to get the data from. Parameters: message  The message that can be read. Returns: true if the message was read (handled). Reimplemented from Module. Definition at line 162 of file SimpleMotionRecognition.cpp.

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Member Data Documentation

CameraMatrix SimpleMotionRecognition::previousCameraMatrix [private]

Definition at line 54 of file SimpleMotionRecognition.h. Referenced by execute(), and headIsNotInMotion().

Image SimpleMotionRecognition::imageBuffer[SIMPLEIMAGEBUFFERSIZE] [private]

Definition at line 55 of file SimpleMotionRecognition.h.

int SimpleMotionRecognition::start [private]

Definition at line 56 of file SimpleMotionRecognition.h.

int SimpleMotionRecognition::currentImage [private]

Definition at line 56 of file SimpleMotionRecognition.h.

int SimpleMotionRecognition::imagesLeft [private]

Definition at line 56 of file SimpleMotionRecognition.h.

int SimpleMotionRecognition::wait [private]

Definition at line 56 of file SimpleMotionRecognition.h.

int SimpleMotionRecognition::reset [private]

Definition at line 56 of file SimpleMotionRecognition.h. Referenced by execute(), and SimpleMotionRecognition().

int SimpleMotionRecognition::frameDiff [private]

Definition at line 56 of file SimpleMotionRecognition.h. Referenced by execute(), and headIsNotInMotion().

int SimpleMotionRecognition::searchStatus [private]

Definition at line 56 of file SimpleMotionRecognition.h. Referenced by execute(), searchPan(), searchTilt(), and SimpleMotionRecognition().

int SimpleMotionRecognition::halfCameraResolutionHeigth [private]

Definition at line 56 of file SimpleMotionRecognition.h. Referenced by getAngleYZ(), and SimpleMotionRecognition().

int SimpleMotionRecognition::halfCameraResolutionWidth [private]

Definition at line 56 of file SimpleMotionRecognition.h. Referenced by getAngleYZ(), and SimpleMotionRecognition().

double SimpleMotionRecognition::halfCameraOpeningAngleHeigth [private]

Definition at line 58 of file SimpleMotionRecognition.h. Referenced by getAngleYZ(), headIsNotInMotion(), and SimpleMotionRecognition().

double SimpleMotionRecognition::halfCameraOpeningAngleWidth [private]

Definition at line 58 of file SimpleMotionRecognition.h. Referenced by getAngleYZ(), headIsNotInMotion(), and SimpleMotionRecognition().

Vector2<int>* SimpleMotionRecognition::motion [private]

Definition at line 59 of file SimpleMotionRecognition.h.

Vector2<long> SimpleMotionRecognition::newHeadPos [private]

Definition at line 60 of file SimpleMotionRecognition.h. Referenced by execute().

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

• Modules/SensorBehaviorControl/SimpleMotionRecognition.h
• Modules/SensorBehaviorControl/SimpleMotionRecognition.cpp

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