BallPercept Class Reference

#include <BallPercept.h>

Inheritance diagram for BallPercept:

[legend]Collaboration diagram for BallPercept:

[legend]List of all members.

Public Member Functions
	BallPercept ()
	Constructor.
void	reset (unsigned long frameNumber)
	The functions resets the percept.
void	add (const Vector2< double > &offsetOnField, const Vector2< double > &bearingBasedOffsetOnField, const Vector2< double > &sizeBasedOffsetOnField, const Vector2< double > &centerInImage, double radiusInImage, double reliability, bool isCameraMatrixValid)
	The function adds a seen ball to the percept.
void	addHighRes (const Vector2< int > &centerInPixel, const Vector2< double > &centerAsAngles, double radiusInPixel, double radiusAsAngle, const Vector3< double > &translationOfCamera, bool isCameraMatrixValid, double reliability)
	Adds a seen ball to the percept, specifing its center and radius in image coords and additionally its reliability.
Public Attributes
bool	ballWasSeen
	Indicates if the ball was seen.
Vector2< double >	offsetOnField
	Ball offset based interpolated between size based and bearing based.
Vector2< double >	bearingBasedOffsetOnField
	Ball offset based on intersection with the field plane.
Vector2< double >	sizeBasedOffsetOnField
	Ball offset based on the size in the image.
Vector2< double >	centerInImage
	The center of the ball in image coordinates.
double	radiusInImage
	The center of the ball in image coordinates.
double	reliability
	The reliability of the percept.
bool	isCameraMatrixValid
	Indicates, whether the camera matrix was reliable when the percept was created.
MultipleBallPerceptList	multiplePercepts
	Array stores the multiple ball percepts, ordered by reliability.
unsigned long	frameNumber
	The frame number of the image that was used to create the percept.
Private Member Functions
void	serialize (In *in, Out *out)
void	checkOffset (Vector2< double > &offset) const

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Constructor & Destructor Documentation

BallPercept::BallPercept (   )

Constructor. Definition at line 19 of file BallPercept.cpp. References reset().

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Member Function Documentation

void BallPercept::serialize (  In *  in, Out *  out )  [inline, private, virtual]

Implements Streamable. Definition at line 31 of file BallPercept.h. References bearingBasedOffsetOnField, centerInImage, isCameraMatrixValid, multiplePercepts, offsetOnField, radiusInImage, reliability, sizeBasedOffsetOnField, STREAM, STREAM_REGISTER_BEGIN, and STREAM_REGISTER_FINISH.

void BallPercept::reset (  unsigned long  frameNumber  )  [inline]

The functions resets the percept. Definition at line 54 of file BallPercept.h. Referenced by BallPercept(), VLCImageProcessor::execute(), SlamImageProcessor::execute(), and GT2005ImageProcessor::execute().

void BallPercept::add (  const Vector2< double > &  offsetOnField, const Vector2< double > &  bearingBasedOffsetOnField, const Vector2< double > &  sizeBasedOffsetOnField, const Vector2< double > &  centerInImage, double  radiusInImage, double  reliability, bool  isCameraMatrixValid )

The function adds a seen ball to the percept. Definition at line 24 of file BallPercept.cpp. Referenced by addHighRes().

void BallPercept::addHighRes (  const Vector2< int > &  centerInPixel, const Vector2< double > &  centerAsAngles, double  radiusInPixel, double  radiusAsAngle, const Vector3< double > &  translationOfCamera, bool  isCameraMatrixValid, double  reliability )

Adds a seen ball to the percept, specifing its center and radius in image coords and additionally its reliability. Definition at line 42 of file BallPercept.cpp. References Vector2< V >::abs(), add(), checkOffset(), Geometry::getBallDistanceByAngleSize(), sqr, Vector3< V >::x, Vector2< V >::x, Vector3< V >::y, Vector2< V >::y, and Vector3< V >::z. Referenced by VLCBallSpecialist::addBallPercept(), and GT2005BallSpecialist::addBallPercept().

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void BallPercept::checkOffset (  Vector2< double > &  offset  )  const [private]

Definition at line 115 of file BallPercept.cpp. References getRobotConfiguration(), RobotConfiguration::getRobotDimensions(), RobotDimensions::lowerBodyWidth, Vector2< V >::x, and Vector2< V >::y. Referenced by addHighRes().

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Member Data Documentation

bool BallPercept::ballWasSeen

Indicates if the ball was seen. Definition at line 74 of file BallPercept.h. Referenced by GT2005BallLocator::execute(), Cognition::main(), and GT2005BallLocator::setBallSymbols().

Vector2<double> BallPercept::offsetOnField

Ball offset based interpolated between size based and bearing based. Definition at line 75 of file BallPercept.h. Referenced by VLCBallSpecialist::addBallPercept(), GT2005BallSpecialist::addBallPercept(), GT2005BallLocator::execute(), and serialize().

Vector2<double> BallPercept::bearingBasedOffsetOnField

Ball offset based on intersection with the field plane. Definition at line 76 of file BallPercept.h. Referenced by serialize().

Vector2<double> BallPercept::sizeBasedOffsetOnField

Ball offset based on the size in the image. Definition at line 77 of file BallPercept.h. Referenced by serialize(), and GT2005BallLocator::setBallSymbols().

Vector2<double> BallPercept::centerInImage

The center of the ball in image coordinates. Definition at line 78 of file BallPercept.h. Referenced by VLCBallSpecialist::addBallPercept(), GT2005BallSpecialist::addBallPercept(), and serialize().

double BallPercept::radiusInImage

The center of the ball in image coordinates. Definition at line 79 of file BallPercept.h. Referenced by VLCBallSpecialist::addBallPercept(), GT2005BallSpecialist::addBallPercept(), and serialize().

double BallPercept::reliability

The reliability of the percept. Definition at line 80 of file BallPercept.h. Referenced by VLCBallSpecialist::addBallPercept(), GT2005BallSpecialist::addBallPercept(), GT2005BallLocator::execute(), serialize(), and GT2005BallLocator::setBallSymbols().

bool BallPercept::isCameraMatrixValid

Indicates, whether the camera matrix was reliable when the percept was created. Definition at line 81 of file BallPercept.h. Referenced by serialize().

MultipleBallPerceptList BallPercept::multiplePercepts

Array stores the multiple ball percepts, ordered by reliability. Definition at line 82 of file BallPercept.h. Referenced by GT2005BallLocator::draw(), GT2005BallLocator::execute(), VLCBallSpecialist::forwardPercept(), GT2005BallSpecialist::forwardPercept(), VLCBallSpecialist::resetMultiplePerceptsList(), GT2005BallSpecialist::resetMultiplePerceptsList(), and serialize().

unsigned long BallPercept::frameNumber

The frame number of the image that was used to create the percept. Definition at line 83 of file BallPercept.h.

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The documentation for this class was generated from the following files:

• Representations/Perception/BallPercept.h
• Representations/Perception/BallPercept.cpp

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