Representations/Perception/MultipleBallPerceptList.cpp

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/**
 * @author <a href="mailto:Thorsten.Kerkhof@gmx.de">Thorsten Kerkhof</a>
 */

#include "MultipleBallPerceptList.h"

MultipleBallPerceptList::MultipleBallPerceptList()
  : numberOfElements(0),
    panningVelocityError(0)
{
}

void MultipleBallPerceptList::add(const MultipleBallPerceptElement& elem)
{
  if(numberOfElements < (int)(sizeof(multiplePercepts) / sizeof(multiplePercepts[0])) && elem.reliability > 0)
    multiplePercepts[numberOfElements++] = elem;
}

void MultipleBallPerceptList::calculatePanningVelocityValue(double panningVelocity)
{
  /* "panningVelocity"-value:
   * a is equal to 1 if the panning velocity is equal to 0 (minimum of the function)
   * the lowest value is 0.52 for a panning velocity of approximately 5.5
   */
  double value = 0;

  //Function is result of BallLocatorEvolutionBehavior:
  if(panningVelocity > 5.5)
    value = 57.198511908222125;
  else value = -0.9 * panningVelocity * panningVelocity
    + 9.90092024377335 * panningVelocity
    + 29.9684505674687;

  //return the normalized value (30 is minimum of the function)
  //the bigger the panning velocity value is the lower the trust in the percept should be
  value = 30 / value;
  panningVelocityError = value > 1 ? 1 : value;
}

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