Representations/Perception/EdgesPercept.cpp

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/**
 * @file EdgesPercept.cpp
 *
 * Implementation of class EdgesPercept.
 * @author Dirk Thomas
 */

#include "EdgesPercept.h"
#include "Tools/Math/Common.h"

void EdgesPercept::reset(unsigned long frameNumber)
{
  this->frameNumber = frameNumber;
  this->numberOfEdges = 0;
}

void EdgesPercept::add(const Vector2<double>& point1OnField, const Vector2<double>& point2OnField,
                       const Vector2<int>& point1InImage, const Vector2<int>& point2InImage)
{
  if(numberOfEdges < maxNumberOfEdges)
  {
    edges[numberOfEdges].point1OnField = point1OnField;
    edges[numberOfEdges].point2OnField = point2OnField;
    edges[numberOfEdges].point1InImage = point1InImage;
    edges[numberOfEdges].point2InImage = point2InImage;

    edges[numberOfEdges].lengthOnField = (point1OnField - point2OnField).abs();
    edges[numberOfEdges].lengthInImage = (point1InImage - point2InImage).abs();

    edges[numberOfEdges].angleOnField = normalize((point2OnField - point1OnField).angle() + pi_2);
    edges[numberOfEdges++].angleInImage = normalize((point2InImage - point1InImage).angle() + pi_2);
  }
}

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