GT RoboCup SSL
Soccer software, robot firmware
Public Member Functions | Static Public Member Functions | List of all members
WorldBall Class Reference

Best estimate of the true ball position using the kalman balls from each camera. More...

Public Member Functions

 WorldBall ()
 Creates an invalid world ball Used to make some of the code cleaner.
 
 WorldBall (RJ::Time calcTime, std::list< KalmanBall > kalmanBalls)
 Creates a valid world ball from a list of kalman balls through special averaging. More...
 
bool getIsValid () const
 
Geometry2d::Point getPos () const
 
Geometry2d::Point getVel () const
 
double getPosCov () const
 
double getVelCov () const
 
const std::list< KalmanBall > & getBallComponents () const
 
RJ::Time getTime () const
 

Static Public Member Functions

static void createConfiguration (Configuration *cfg)
 

Detailed Description

Best estimate of the true ball position using the kalman balls from each camera.

Constructor & Destructor Documentation

◆ WorldBall()

WorldBall::WorldBall ( RJ::Time  calcTime,
std::list< KalmanBall >  kalmanBalls 
)

Creates a valid world ball from a list of kalman balls through special averaging.

Parameters
calcTimeCurrent iteration time
kalmanBallsList of best kalman ball from every camera

Member Function Documentation

◆ getBallComponents()

const std::list< KalmanBall > & WorldBall::getBallComponents ( ) const
Returns
List of all the building kalman balls for this world ball

◆ getIsValid()

bool WorldBall::getIsValid ( ) const
Returns
If the ball actually represents a real ball

◆ getPos()

Geometry2d::Point WorldBall::getPos ( ) const
Returns
The best estimated position of the ball

◆ getPosCov()

double WorldBall::getPosCov ( ) const
Returns
The average position covariance of the filter

◆ getTime()

RJ::Time WorldBall::getTime ( ) const
Returns
Time of creation for this world ball

◆ getVel()

Geometry2d::Point WorldBall::getVel ( ) const
Returns
The best estimated velocity of the ball

◆ getVelCov()

double WorldBall::getVelCov ( ) const
Returns
The average velocity covariance of the filter
The documentation for this class was generated from the following files: