Representations/Perception/MultipleBallPerceptElement.cpp

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/**
 * removed struct and made class out of it to make it streamable
 * @author <a href="mailto:Thorsten.Kerkhof@gmx.de">Thorsten Kerkhof</a>
 */

#include "MultipleBallPerceptElement.h"

MultipleBallPerceptElement::MultipleBallPerceptElement()
: radiusInImage(0),
  reliability(0),
  distanceError(0)
{
}

void MultipleBallPerceptElement::calculateDistanceValue(Vector2<double> offset)
{
  /* "distance to ball"-value:
   * b is equal to 1 if the calculated distance value is 50 (the minimum of the function)
   * the lowest value is 0.045 for a distance of approximately 4000 mm
   */
  double value;

  double d2 = offset.x * offset.x + offset.y * offset.y;
  double d = sqrt(d2);

  //Function is result of BallLocatorEvolutionBehavior:
  if (d < 250)
    value = -d / 12 + 74;
  else if (d < 1500)
    value = 50;
  else 
    value = 0.000160403 * d2 - 0.440147 * d + 349.31375;

  //return the normalized value (50 is minimum of the function)
  //the bigger the distance value is the lower the trust in the percept should be
  distanceError = 50 / value;
}

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