Representations/Perception/MultipleBallPerceptElement.h

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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>
 */

#ifndef __MultipleBallPerceptElement_h_
#define __MultipleBallPerceptElement_h_

#include "Tools/Math/Vector2.h"
#include "Tools/Streams/Streamable.h"


class MultipleBallPerceptElement : public Streamable
{
  void serialize(In* in, Out* out)
  {
    STREAM_REGISTER_BEGIN();
    STREAM(offsetOnField);
    STREAM(centerInImage);
    STREAM(radiusInImage);
    STREAM(reliability);
    STREAM(distanceError);
    STREAM_REGISTER_FINISH();
  }

public:
  MultipleBallPerceptElement();

  Vector2<double> offsetOnField;

  /** The center of the ball in image coordinates */
  Vector2<double> centerInImage;

  /** The center of the ball in image coordinates */
  double radiusInImage;

  double reliability;

  //the error depending on the distance as needed in the GT2005/MSH2005BallLocator
  double distanceError;

  void calculateDistanceValue(Vector2<double> offset);
};

#endif

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