LinesPercept Class Reference

The class represents a percepted line on the field with its type and a Vector of points belonging to it. More...

#include <LinesPercept.h>

Inheritance diagram for LinesPercept:

[legend]Collaboration diagram for LinesPercept:

[legend]List of all members.


Public Types
enum	{ maxNumberOfPoints = 200 }
enum	LineType { field, border, yellowGoal, skyblueGoal, numberOfLineTypes, redRobot = numberOfLineTypes, blueRobot, ball, numberOfTypes, xField = ball, yField, boundary }
enum	{ UNDEF = -4 }
enum	CrossingCharacteristic { lineOnThisSide, noLineOnThisSide, dontKnow, numberOfCrossingCharacteristics }
	Defines what lies on the 4 "sides" of a line crossing. More...
enum	{ maxNumberOfLineCrossings = 10 }
Public Member Functions
	LinesPercept ()
	Constructor.
void	reset (unsigned long frameNumber)
	The function empties the line percept.
void	add (LineType type, const Vector2< int > &pointOnField, const Vector2< int > &pointInImage, double angleOnField=UNDEF, double angleInImage=UNDEF)
	The function adds a new point to the lines percept.
void	serialize (In in, Out out)
Static Public Member Functions
const char *	getCrossingCharacteristicName (CrossingCharacteristic id)
Public Attributes
LinePoints	points [numberOfTypes]
unsigned long	frameNumber
	The frame number when perceived.
int	numberOfLineCrossings
LineCrossingPoint	lineCrossings [maxNumberOfLineCrossings]
CenterCircle	centerCircle
bool	centerCircleFound

Detailed Description

The class represents a percepted line on the field with its type and a Vector of points belonging to it.

Definition at line 17 of file LinesPercept.h.

Member Enumeration Documentation

anonymous enum

Enumeration values:

maxNumberOfPoints

Definition at line 20 of file LinesPercept.h.

enum LinesPercept::LineType

Enumeration values:

field

border

yellowGoal

skyblueGoal

numberOfLineTypes

redRobot

blueRobot

ball

numberOfTypes

xField

yField

boundary

Definition at line 22 of file LinesPercept.h.
Referenced by Field::getObstacleDistance().

anonymous enum

Enumeration values:

UNDEF

Definition at line 40 of file LinesPercept.h.

enum LinesPercept::CrossingCharacteristic

Defines what lies on the 4 "sides" of a line crossing.

Enumeration values:

lineOnThisSide

noLineOnThisSide

dontKnow

numberOfCrossingCharacteristics

Definition at line 92 of file LinesPercept.h.

anonymous enum

Enumeration values:

maxNumberOfLineCrossings

Definition at line 129 of file LinesPercept.h.

Constructor & Destructor Documentation

LinesPercept::LinesPercept ( ) [inline]

Constructor.

Definition at line 155 of file LinesPercept.h.
References reset().

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Member Function Documentation

const char* LinesPercept::getCrossingCharacteristicName ( CrossingCharacteristic id ) [inline, static]

Definition at line 93 of file LinesPercept.h.
References dontKnow, lineOnThisSide, and noLineOnThisSide.
Referenced by LinesPercept::LineCrossingPoint::serialize().

void LinesPercept::reset ( unsigned long frameNumber )

The function empties the line percept.

Definition at line 10 of file LinesPercept.cpp.
References centerCircleFound, numberOfLineCrossings, LinesPercept::LinePoints::numberOfPoints, and numberOfTypes.
Referenced by VLCImageProcessor::execute(), SlamImageProcessor::execute(), GT2005ImageProcessor::execute(), and LinesPercept().

void LinesPercept::add ( LineType type,

const Vector2< int > & pointOnField,

const Vector2< int > & pointInImage,

double angleOnField = UNDEF,

double angleInImage = UNDEF

)

The function adds a new point to the lines percept.

Parameters:

type The line type of the point.

point The point.

angle The angle of the normal of the line.

Definition at line 21 of file LinesPercept.cpp.
References maxNumberOfPoints, LinesPercept::LinePoints::numberOfPoints, LinesPercept::LinePoints::pointsInImage, and LinesPercept::LinePoints::pointsOnField.
Referenced by VLCImageProcessor::scan(), SlamImageProcessor::scan(), and GT2005ImageProcessor::scan().