ObstaclesPercept Class Reference

The class represents perceived obstacles on the field. More...

#include <ObstaclesPercept.h>

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Public Types
enum	ObstacleType {   border, goal, teammate,   opponent, unknown }
enum	{ maxNumberOfSegments = 200 }
enum	WhoseGoal { ownGoal = 0, opponentGoal = 1 }
Public Member Functions
void	setFreePartOfGoal (colorClass goalColor, double angleToLeftEndpoint, double angleToRightEndpoint, bool leftEndpointSeen, bool rightEndpointSeen, const Vector2< int > &leftInImage, const Vector2< int > &rightInImage)
	ObstaclesPercept ()
	Constructor.
void	reset (unsigned long frameNumber)
	The function empties the obstacle percept.
void	add (const Segment &segment)
	The function adds a new pair of points to the obstacle percept.
Public Attributes
Segment	segments [maxNumberOfSegments]
	The obstacle points.
int	numberOfSegments
	The number of pairs of points.
FreePartOfGoal	freePartOfGoal [2]
unsigned long	frameNumber
	The frame number when perceived.
Private Member Functions
void	serialize (In *in, Out *out)

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Detailed Description

The class represents perceived obstacles on the field.

Definition at line 20 of file ObstaclesPercept.h.

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Member Enumeration Documentation

enum ObstaclesPercept::ObstacleType

Enumeration values: border  goal  teammate  opponent  unknown  Definition at line 32 of file ObstaclesPercept.h.

anonymous enum

Enumeration values: maxNumberOfSegments  Definition at line 33 of file ObstaclesPercept.h.

enum ObstaclesPercept::WhoseGoal

Enumeration values: ownGoal  opponentGoal  Definition at line 34 of file ObstaclesPercept.h. Referenced by setFreePartOfGoal().

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Constructor & Destructor Documentation

ObstaclesPercept::ObstaclesPercept (   )  [inline]

Constructor. Definition at line 121 of file ObstaclesPercept.h. References reset().

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Member Function Documentation

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

Implements Streamable. Definition at line 22 of file ObstaclesPercept.h. References freePartOfGoal, numberOfSegments, segments, STREAM, STREAM_ARRAY, STREAM_DYN_ARRAY, STREAM_REGISTER_BEGIN, and STREAM_REGISTER_FINISH.

void ObstaclesPercept::setFreePartOfGoal (  colorClass  goalColor, double  angleToLeftEndpoint, double  angleToRightEndpoint, bool  leftEndpointSeen, bool  rightEndpointSeen, const Vector2< int > &  leftInImage, const Vector2< int > &  rightInImage )  [inline]

Definition at line 100 of file ObstaclesPercept.h. References ObstaclesPercept::FreePartOfGoal::directionAsAngle, ObstaclesPercept::FreePartOfGoal::distanceOnField, freePartOfGoal, getPlayer(), Player::getTeamColor(), ObstaclesPercept::FreePartOfGoal::leftEndSeen, ObstaclesPercept::FreePartOfGoal::leftInImage, ObstaclesPercept::FreePartOfGoal::rightEndSeen, ObstaclesPercept::FreePartOfGoal::rightInImage, ObstaclesPercept::FreePartOfGoal::wasDetermined, WhoseGoal, and ObstaclesPercept::FreePartOfGoal::widthAsAngle. Referenced by VLCGoalRecognizer::interpretResults(), and GT2005GoalRecognizer::publishResults().

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void ObstaclesPercept::reset (  unsigned long  frameNumber  )

The function empties the obstacle percept. Definition at line 10 of file ObstaclesPercept.cpp. References freePartOfGoal, numberOfSegments, and ObstaclesPercept::FreePartOfGoal::wasDetermined. Referenced by VLCImageProcessor::execute(), SlamImageProcessor::execute(), GT2005ImageProcessor::execute(), and ObstaclesPercept().

void ObstaclesPercept::add (  const Segment &  segment  )

The function adds a new pair of points to the obstacle percept. Parameters: segment  The pair of points. Definition at line 17 of file ObstaclesPercept.cpp. References maxNumberOfSegments, numberOfSegments, and segments. Referenced by SlamImageProcessor::scan().

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Member Data Documentation

Segment ObstaclesPercept::segments[maxNumberOfSegments]

The obstacle points. Definition at line 134 of file ObstaclesPercept.h. Referenced by add(), GT2005ObstaclesLocator::addObstaclesPercept(), and serialize().

int ObstaclesPercept::numberOfSegments

The number of pairs of points. Definition at line 135 of file ObstaclesPercept.h. Referenced by add(), GT2005ObstaclesLocator::addObstaclesPercept(), reset(), and serialize().

FreePartOfGoal ObstaclesPercept::freePartOfGoal[2]

Definition at line 136 of file ObstaclesPercept.h. Referenced by GT2005ObstaclesLocator::determineFreePartsOfGoals(), reset(), serialize(), and setFreePartOfGoal().

unsigned long ObstaclesPercept::frameNumber

The frame number when perceived. Definition at line 139 of file ObstaclesPercept.h. Referenced by GT2005ObstaclesLocator::execute().

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

• Representations/Perception/ObstaclesPercept.h
• Representations/Perception/ObstaclesPercept.cpp

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