Uses a seperate thread to filter the vision measurements into a smoother velocity/position estimate for both the ball and robots. More...

Public Member Functions
	VisionFilter ()
	Starts a worker thread to do the vision processing.

void	addFrames (const std::vector< CameraFrame > &frames)
	Adds a list of frames that arrived. More...

void	fillBallState (SystemState &state)
	Fills system state with the ball pos/vel. More...

void	fillRobotState (SystemState &state, bool usBlue)
	Fills system state with the robots pos/vel. More...

Detailed Description

Uses a seperate thread to filter the vision measurements into a smoother velocity/position estimate for both the ball and robots.

Add vision frames directly into the filter call the fill states functions to push the newest estimates directly into the system state.

Note: There may be a 1 frame delay between the measurements being added and the measurements being included in the filter estimate.

Member Function Documentation

void VisionFilter::addFrames ( const std::vector< CameraFrame > & frames )

Adds a list of frames that arrived.

Parameters

frames List of new frames

void VisionFilter::fillBallState ( SystemState & state )

Fills system state with the ball pos/vel.

Parameters

state Current system state pointer

void VisionFilter::fillRobotState	(	SystemState &	state,
		bool	usBlue
	)

Fills system state with the robots pos/vel.

Parameters

state	Current system state pointer
usBlue	True if we are blue

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