KalmanRobot Class Reference

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

Public Member Functions
	KalmanRobot (unsigned int cameraID, RJ::Time creationTime, CameraRobot initMeasurement, const WorldRobot &previousWorldRobot)
	Checks previousWorldRobot to see if it's valid. More...
void	predict (RJ::Time currentTime)
	Predicts one time step forward. More...
void	predictAndUpdate (RJ::Time currentTime, CameraRobot updateRobot)
	Predicts one time step forward then triangulates toward the measurement. More...
bool	isUnhealthy () const
	Returns true when the filter hasn't been updated in a while and should be deleted.
unsigned int	getCameraID () const
int	getRobotID () const
int	getHealth () const
Geometry2d::Point	getPos () const
double	getTheta () const
Geometry2d::Point	getVel () const
double	getOmega () const
Geometry2d::Point	getPosCov () const
double	getThetaCov () const
Geometry2d::Point	getVelCov () const
double	getOmegaCov () const
const boost::circular_buffer< CameraRobot > &	getPrevMeasurements () const

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

Detailed Description

Filtered robot estimation for a single camera.

Constructor & Destructor Documentation

KalmanRobot()

KalmanRobot::KalmanRobot	(	unsigned int	cameraID,
		RJ::Time	creationTime,
		CameraRobot	initMeasurement,
		const WorldRobot &	previousWorldRobot
	)

Checks previousWorldRobot to see if it's valid.

Parameters

cameraID	ID of the camera this filter is applied to
creationTime	Time this filter was created
initMeasurement	Initial robot measurement
previousWorldRobot	World robot from last frame (or invalid world robot)

Member Function Documentation

getCameraID()

unsigned int KalmanRobot::getCameraID

(

)

const

Returns

The camera id this belongs to

getHealth()

int KalmanRobot::getHealth

(

)

const

Returns

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

getOmega()

double KalmanRobot::getOmega

(

)

const

Returns

Best estimate of the angular velocity

getOmegaCov()

double KalmanRobot::getOmegaCov

(

)

const

Returns

Covariance of omega of the robot

getPos()

Geometry2d::Point KalmanRobot::getPos

(

)

const

Returns

Best estimate of the linear position of the robot

getPosCov()

Geometry2d::Point KalmanRobot::getPosCov

(

)

const

Returns

Covariance in X and Y linear direction of the position of the robot

getPrevMeasurements()

const boost::circular_buffer< CameraRobot > & KalmanRobot::getPrevMeasurements

(

)

const

Returns

List of previous camera robot measurements for kick detection

getRobotID()

int KalmanRobot::getRobotID

(

)

const

Returns

This robot's id

getTheta()

double KalmanRobot::getTheta

(

)

const

Returns

Best estimate of the heading. Not bounded

getThetaCov()

double KalmanRobot::getThetaCov

(

)

const

Returns

Covariance of theta of the robot

getVel()

Geometry2d::Point KalmanRobot::getVel

(

)

const

Returns

Best estimate of the linear velocity of the robot

getVelCov()

Geometry2d::Point KalmanRobot::getVelCov

(

)

const

Returns

Covariance in X and Y linear direction of the velocity of the robot

predict()

void KalmanRobot::predict

(

RJ::Time

currentTime

)

Predicts one time step forward.

Parameters

currentTime

Current time of the prediction step

predictAndUpdate()

void KalmanRobot::predictAndUpdate	(	RJ::Time	currentTime,
		CameraRobot	updateRobot
	)

Predicts one time step forward then triangulates toward the measurement.

Parameters

currentTime	Current time of the prediction/update step
updateRobot	Robot measurement that we are using as feedback

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

• soccer/vision/robot/KalmanRobot.hpp
• soccer/vision/robot/KalmanRobot.cpp