Passer::RoboidControl::InterestingThing Class Reference

An object tracked by the roboid. More...

#include <TrackedObject.h>

Public Member Functions
	InterestingThing (Sensor *sensor, Polar position)
	An object tracked by the roboid.
	InterestingThing (Sensor *sensor, Spherical position, Quaternion orientation=Quaternion::identity)
void	Refresh (Polar position)
	Update the position of the object.
void	Refresh (Spherical position, Quaternion orientation=Quaternion::identity)
bool	DegradeConfidence (float deltaTime)
	Decrease the confidence based on the elapsed time.
bool	IsTheSameAs (InterestingThing *otherObj)
	Determine whether this object is the same as another object.

Public Attributes
unsigned char	networkId
unsigned char	id
	The id of the tracked object.
char	parentId = 0
Spherical	position = Spherical::zero
	The current position of the object.
Quaternion	orientation = Quaternion::identity
	The current orientation of the object.
Sensor *	sensor = nullptr
	The sensor which provided that lastet pose this object.
unsigned char	type = 0x00
unsigned char	confidence
bool	updated = false

Static Public Attributes
static constexpr float	equalityDistance = 0.3F
	The maximum difference in distance from the roboid in which two objects may be considered the same.
static constexpr float	equalityAngle = 5.0F
	The maximum difference in angle from the roboids orientation in which two objects may be considered the same.

Static Protected Attributes
static constexpr unsigned char	maxConfidence = 255
static constexpr unsigned char	confidenceDropSpeed = 10

Detailed Description

An object tracked by the roboid.

Constructor & Destructor Documentation

InterestingThing() [1/2]

InterestingThing::InterestingThing	(	Sensor *	sensor,
		Polar	position
	)

An object tracked by the roboid.

Parameters

sensor	The Sensor which detected this object
position	The position in polar coordinates local to the roboid

InterestingThing() [2/2]

InterestingThing::InterestingThing	(	Sensor *	sensor,
		Spherical	position,
		Quaternion	orientation = Quaternion::identity
	)

Member Function Documentation

Refresh() [1/2]

void InterestingThing::Refresh

(

Polar

position

)

Update the position of the object.

Parameters

position

The latest known position of the object

This will also update the confidence of the object to the maxConfidence value

Refresh() [2/2]

void InterestingThing::Refresh	(	Spherical	position,
		Quaternion	orientation = Quaternion::identity
	)

DegradeConfidence()

bool InterestingThing::DegradeConfidence

(

float

deltaTime

)

Decrease the confidence based on the elapsed time.

Parameters

deltaTime

The time since the last DegradeConfidence call

Returns

Returns false when the object's confidence has reached zero, true otherwise

When this function returns false, the object should no longer be tracked.

IsTheSameAs()

bool InterestingThing::IsTheSameAs

(

InterestingThing *

otherObj

)

Determine whether this object is the same as another object.

Parameters

otherObj

The other object to compare to

Returns

Returns true when both objects are considered the same The result of this check depends on the equalityDistance and equalityAngle value.

Member Data Documentation

equalityDistance

constexpr float Passer::RoboidControl::InterestingThing::equalityDistance = 0.3F

staticconstexpr

The maximum difference in distance from the roboid in which two objects may be considered the same.

When the difference in distance is exactly this value, the objects can be the same. With a value of 0.3, objects with coordinates position->distance = 1.2F and position->distance = 1.6 will be considered different, but objects with coordinates position->distance = 1.2 and position->distance = 1.0 can be the same.

equalityAngle

constexpr float Passer::RoboidControl::InterestingThing::equalityAngle = 5.0F

staticconstexpr

The maximum difference in angle from the roboids orientation in which two objects may be considered the same.

When the difference in angle is exactly this value, the objects can be the same. With a value of 5.0, object with coordinates position->angle = 30 and position->angle = 36 will be considered different, but object with coordinated position->angle = 30 and position->angle = 27 can be the same.

networkId

unsigned char Passer::RoboidControl::InterestingThing::networkId

id

unsigned char Passer::RoboidControl::InterestingThing::id

The id of the tracked object.

parentId

char Passer::RoboidControl::InterestingThing::parentId = 0

position

Spherical Passer::RoboidControl::InterestingThing::position = Spherical::zero

The current position of the object.

orientation

Quaternion Passer::RoboidControl::InterestingThing::orientation = Quaternion::identity

The current orientation of the object.

sensor

Sensor* Passer::RoboidControl::InterestingThing::sensor = nullptr

The sensor which provided that lastet pose this object.

type

unsigned char Passer::RoboidControl::InterestingThing::type = 0x00

confidence

unsigned char Passer::RoboidControl::InterestingThing::confidence

updated

bool Passer::RoboidControl::InterestingThing::updated = false

maxConfidence

constexpr unsigned char Passer::RoboidControl::InterestingThing::maxConfidence = 255

staticconstexprprotected

confidenceDropSpeed

constexpr unsigned char Passer::RoboidControl::InterestingThing::confidenceDropSpeed = 10

staticconstexprprotected

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

• d:/PlatformIO/RoboidControl/TrackedObject.h
• d:/PlatformIO/RoboidControl/TrackedObject.cpp