Modules/BallLocator/GT2005Particles/GT2005Particle.cpp

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/**
 * @file GT2005Particle.cpp
 * 
 * This file contains a Particle Representation used by the GT2005BallLocator.
 *
 * @author <a href="mailto:christinez@gmx.de">Christine Zarges</a>
 * @author <a href="mailto:Thorsten.Kerkhof@gmx.de">Thorsten Kerkhof</a>
 */

#include "GT2005Particle.h"
#include "Tools/Debugging/Debugging.h"
#include "Tools/Actorics/RobotDimensions.h"
#include "Tools/FieldDimensions.h"
#include "Platform/SystemCall.h"
#include "Tools/Debugging/DebugDrawings.h"
#include "Platform/GTAssert.h"
//------------------------------------------------------------------------------
GT2005Particle::GT2005Particle()
{
  pose.x = 0;
  pose.y = 0;
  this->vx = 0;
  this->vy = 0;
  probability = 0;
  vprob = 0;
  seenvx = 0;
  seenvy = 0;
  provx = 0;
  provy = 0;
}
//------------------------------------------------------------------------------
GT2005Particle::GT2005Particle(double x, double y, double vx, double vy,
                               double prob, double vProb)
{
  pose.x = x;
  pose.y = y;
  this->vx = vx;
  this->vy = vy;
  probability = prob;
  vprob = vProb;
  seenvx = 0;
  seenvy = 0;
  provx = 0;
  provy = 0;
}
//------------------------------------------------------------------------------
Vector2<double> GT2005Particle::getPosition() const
{
  Vector2<double> position(pose.x, pose.y);
  return position;
}
//------------------------------------------------------------------------------
Vector2<double> GT2005Particle::getVelocity() const
{
  Vector2<double> velocity(vx, vy);
  return velocity;
}
//------------------------------------------------------------------------------
void GT2005Particle::setPosition(double x, double y)
{
  this->pose.x = x;
  this->pose.y = y;
}
//------------------------------------------------------------------------------
void GT2005Particle::setVelocity(double vx, double vy)
{
  this->vx = vx;
  this->vy = vy;
}
//------------------------------------------------------------------------------
void GT2005Particle::setParameters(double x, double y, double vx, double vy,
                                   double prob, double vProb)
{
  this->pose.x = x;
  this->pose.y = y;
  this->vx = vx;
  this->vy = vy;
  this->probability = prob;
  this->vprob = vProb;
  this->seenvx = 0;
  this->seenvy = 0;
  this->provx = 0;
  this->provy = 0;
}
//------------------------------------------------------------------------------

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