KalmanBall Class Reference

Filtered ball estimation for a single camera. More...

Public Member Functions
	KalmanBall (unsigned int cameraID, RJ::Time creationTime, CameraBall initMeasurement, const WorldBall &previousWorldBall)
	Checks the previousWorldBall to see if it's valid. More...
void	predict (RJ::Time currentTime)
	Predicts one time step forward. More...
void	predictAndUpdate (RJ::Time currentTime, CameraBall updateBall)
	Predicts one time step forward then triangulates towards the measurement. More...
bool	isUnhealthy () const
unsigned int	getCameraID () const
int	getHealth () const
Geometry2d::Point	getPos () const
Geometry2d::Point	getVel () const
Geometry2d::Point	getPosCov () const
Geometry2d::Point	getVelCov () const
const boost::circular_buffer< CameraBall > &	getPrevMeasurements () const
void	setVel (Geometry2d::Point newVel)

Static Public Member Functions
static void	createConfiguration (Configuration *cfg)

Detailed Description

Filtered ball estimation for a single camera.

Constructor & Destructor Documentation

KalmanBall()

KalmanBall::KalmanBall	(	unsigned int	cameraID,
		RJ::Time	creationTime,
		CameraBall	initMeasurement,
		const WorldBall &	previousWorldBall
	)

Checks the previousWorldBall to see if it's valid.

Parameters

cameraId	ID of the camera this filter belongs to
creationTime	Time this filter is created
initMeasurement	Initial ball measurement we are creating the filter at
previousWorldBall	Previous prediction of ball location to initialize the velocity smartly

Member Function Documentation

getCameraID()

unsigned int KalmanBall::getCameraID

(

)

const

Returns

The camera id this belongs to

getHealth()

int KalmanBall::getHealth

(

)

const

Returns

How healthy this filter is. AKA How often it's been updated

getPos()

Geometry2d::Point KalmanBall::getPos

(

)

const

Returns

Best estimate of the position of the ball

getPosCov()

Geometry2d::Point KalmanBall::getPosCov

(

)

const

Returns

Covariance in X and Y direction of the position of the ball

getPrevMeasurements()

const boost::circular_buffer< CameraBall > & KalmanBall::getPrevMeasurements

(

)

const

Returns

List of previous camera ball measurements for kick detection/estimation

getVel()

Geometry2d::Point KalmanBall::getVel

(

)

const

Returns

Best estimate of the velocity of the ball

getVelCov()

Geometry2d::Point KalmanBall::getVelCov

(

)

const

Returns

Covariance in X and Y direction of the velocity of the ball

isUnhealthy()

bool KalmanBall::isUnhealthy

(

)

const

Returns

Returns true when the filter hasn't been updated in a while etc and should be deleted

predict()

void KalmanBall::predict

(

RJ::Time

currentTime

)

Predicts one time step forward.

Parameters

currentTime

Time at the current frame

Note

Call either this OR predictAndUpdate once a frame

predictAndUpdate()

void KalmanBall::predictAndUpdate	(	RJ::Time	currentTime,
		CameraBall	updateBall
	)

Predicts one time step forward then triangulates towards the measurement.

Parameters

currentTime	Current time of the prediction/update step
updateBall	Ball measurement that we are using as feedback to the filters

Note

Call either this OR predict once a frame

setVel()

void KalmanBall::setVel

(

Geometry2d::Point

newVel

)

Parameters

newVel

new velocity to insert into the kalman filter

Note: Only used to set the velocity when we think the ball will bounce off another robot

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

• soccer/vision/ball/KalmanBall.hpp
• soccer/vision/ball/KalmanBall.cpp