Passer::RoboidControl::Perception Class Reference

Module to which keeps track of objects around the roboid. More...

#include <Perception.h>

Public Member Functions
	Perception ()
	Default Constructor.
	Perception (Sensor **sensors, unsigned int sensorCount)
	Create a perception setup with the given Sensors.
unsigned int	AddSensor (Sensor *sensor)
unsigned int	GetSensorCount ()
	Get the number of Sensors.
Sensor *	GetSensor (unsigned int sensorId)
Sensor *	FindSensorOfType (unsigned int sensorType)
	Find the first sensor of the given type.
float	GetDistance (float direction, float range=10.0F)
	Gets the distance to the closest object.
float	GetDistanceOfType (unsigned char thingType, float horizontalAngle, float range=10.0F)
float	GetDistance (float horizontalDirection, float verticalDirection, float range=10.0F)
	Gets the distance to the closest object.
bool	ObjectNearby (float direction, float range=10.0F)
	Checks if an object is nearby.
void	AddTrackedObject (Sensor *sensor, Polar position, unsigned char objectType=0x00, unsigned char networkId=0x00)
	Checks if an object is nearby.
InterestingThing *	AddTrackedObject (Sensor *sensor, Spherical position, Quaternion orientation=Quaternion::identity, unsigned char objectId=0x00, unsigned networkId=0x00)
InterestingThing *	AddTrackedObject (Sensor *sensor, unsigned char networkId, unsigned char objectId, Spherical position, Quaternion orientation=Quaternion::identity)
bool	IsInteresting (float distance)
InterestingThing *	FindTrackedObject (char objectId)
InterestingThing *	FindTrackedObject (unsigned char networkId, unsigned char objectId)
unsigned char	TrackedObjectCount ()
	Retrieve the number of objects currently being tracked by the roboid.
InterestingThing **	GetTrackedObjects ()
	Retreive the objects currently tracked by the roboid.
unsigned char	ThingsOfType (unsigned char objectType, InterestingThing *buffer[], unsigned char bufferSize)
InterestingThing *	ThingOfType (unsigned char objectType)
InterestingThing *	GetMostInterestingThing ()
void	Update (float currentTimeMs)
	Update the state of the perception.
void	UpdatePose (Polar translation)
	Update the position/orientation of the preceived objects from the given roboid translation.
void	UpdatePose (Quaternion rotation)
	Update the orientation of the perceived objecst from the given roboid rotation.

Public Attributes
Roboid *	roboid = nullptr
	The roboid of this perception system.
float	nearbyDistance = 0.02F
	Objects with a distance closed that this value will be considered nearby.
Sensor **	sensors = nullptr
	The Sensors used for Perception.
unsigned int	sensorCount = 0
	The number of Sensors used for Perception.
float	lastUpdateTimeMs = 0
unsigned char	lastObjectId = 1
InterestingThing **	trackedObjects

Static Public Attributes
static unsigned char	maxObjectCount = 7

Detailed Description

Module to which keeps track of objects around the roboid.

Constructor & Destructor Documentation

Perception() [1/2]

Perception::Perception

(

)

Default Constructor.

Perception() [2/2]

Perception::Perception	(	Sensor **	sensors,
		unsigned int	sensorCount
	)

Create a perception setup with the given Sensors.

Parameters

sensors	The Placement of Sensors on the Roboid
sensorCount	The number of sensors in the placement array

Member Function Documentation

AddSensor()

unsigned int Perception::AddSensor

(

Sensor *

sensor

)

GetSensorCount()

unsigned int Perception::GetSensorCount

(

)

Get the number of Sensors.

Returns

The number of sensors, zero when no sensors are present

GetSensor()

Sensor * Perception::GetSensor

(

unsigned int

sensorId

)

FindSensorOfType()

Sensor * Perception::FindSensorOfType

(

unsigned int

sensorType

)

Find the first sensor of the given type.

Parameters

sensorType

The type of sensor as is defined in the Thing class (for example Thing::SensorType)

Returns

The first sensor found or a nullptr which no sensor has been found of the given type

GetDistance() [1/2]

float Passer::RoboidControl::Perception::GetDistance	(	float	direction,
		float	range = 10.0F
	)

Gets the distance to the closest object.

Parameters

direction	The direction to look for objects
range	The range in which objects should be looked for

Returns

The distance to the closest object in meters

GetDistanceOfType()

float Perception::GetDistanceOfType	(	unsigned char	thingType,
		float	horizontalAngle,
		float	range = 10.0F
	)

GetDistance() [2/2]

float Perception::GetDistance	(	float	horizontalDirection,
		float	verticalDirection,
		float	range = 10.0F
	)

Gets the distance to the closest object.

Parameters

horizontalDirection	The direction in the horizontal plane to look for objects
verticalDirection	The direction in the vertical plane to look for objects
range	The range in which objects should be looked for

Returns

The distance to the closest object in meters

The directions can be thought of as the polar angle (vertical) and azimuthal angle (horizontal) in the spherical coordinate system.

ObjectNearby()

bool Perception::ObjectNearby	(	float	direction,
		float	range = 10.0F
	)

Checks if an object is nearby.

Parameters

direction	The direction to look for objects
range	The range in which objects should be looked for

Returns

True when an object is close, False otherwise

Wether an object is closeby depends on the sensor. This can be a sensor like a Switch or a DistanceSensor. The latter uses the DistanceSensor::triggerDistance to check if an object is nearby.

AddTrackedObject() [1/3]

void Passer::RoboidControl::Perception::AddTrackedObject	(	Sensor *	sensor,
		Polar	position,
		unsigned char	objectType = 0x00,
		unsigned char	networkId = 0x00
	)

Checks if an object is nearby.

Parameters

horizontalDirection	The direction in the horizontal plane to look for objects
verticalDirection	The direction in the vertical plane to look for objects
range	The range in which objects should be looked for

Returns

True when an object is close, False otherwise

Wether an object is closeby depends on the sensor. This can be a sensor like a Switch or a DistanceSensor. The latter uses the DistanceSensor::triggerDistance to check if an object is nearby.

The directions can be thought of as the polar angle (vertical) and azimuthal angle (horizontal) in the spherical coordinate system.

Add or update an object detected by the given sensor

Parameters

sensor	The sensor which has detected the object
position	The position of the sensor in polar coordinates local to the roboid

AddTrackedObject() [2/3]

InterestingThing * Perception::AddTrackedObject	(	Sensor *	sensor,
		Spherical	position,
		Quaternion	orientation = Quaternion::identity,
		unsigned char	objectId = 0x00,
		unsigned	networkId = 0x00
	)

AddTrackedObject() [3/3]

InterestingThing * Perception::AddTrackedObject	(	Sensor *	sensor,
		unsigned char	networkId,
		unsigned char	objectId,
		Spherical	position,
		Quaternion	orientation = Quaternion::identity
	)

IsInteresting()

bool Perception::IsInteresting

(

float

distance

)

FindTrackedObject() [1/2]

InterestingThing * Perception::FindTrackedObject

(

char

objectId

)

FindTrackedObject() [2/2]

InterestingThing * Perception::FindTrackedObject	(	unsigned char	networkId,
		unsigned char	objectId
	)

TrackedObjectCount()

unsigned char Perception::TrackedObjectCount

(

)

Retrieve the number of objects currently being tracked by the roboid.

Returns

The object of objects, which is always lower than maxObjectCount

GetTrackedObjects()

InterestingThing ** Perception::GetTrackedObjects

(

)

Retreive the objects currently tracked by the roboid.

Returns

An array of current objects

The returned array this should never be a nullptr, but each array entry may be a nullptr when less than maxObjectCount objects is currently being tracked.

ThingsOfType()

unsigned char Perception::ThingsOfType	(	unsigned char	objectType,
		InterestingThing *	buffer[],
		unsigned char	bufferSize
	)

ThingOfType()

InterestingThing * Perception::ThingOfType

(

unsigned char

objectType

)

GetMostInterestingThing()

InterestingThing * Perception::GetMostInterestingThing

(

)

Update()

void Perception::Update

(

float

currentTimeMs

)

Update the state of the perception.

Parameters

currentTimeMs

The current time in milliseconds

This will update the perceptoin of object. It will retrieve the latest state for each sensor and update the confidence of the tracked objects.

UpdatePose() [1/2]

void Perception::UpdatePose

(

Polar

translation

)

Update the position/orientation of the preceived objects from the given roboid translation.

Parameters

translation

The translation of the roboid in world space in polar coordinates

This function will be called through Roboid::SetPosition. It is advised to use that function to update the roboid position instead of this function.

UpdatePose() [2/2]

void Perception::UpdatePose

(

Quaternion

rotation

)

Update the orientation of the perceived objecst from the given roboid rotation.

Parameters

rotation

The rotation of the roboid in world space

Member Data Documentation

roboid

Roboid* Passer::RoboidControl::Perception::roboid = nullptr

The roboid of this perception system.

nearbyDistance

float Passer::RoboidControl::Perception::nearbyDistance = 0.02F

Objects with a distance closed that this value will be considered nearby.

This value is used by the ObjectNearby function to select the objects

sensors

Sensor** Passer::RoboidControl::Perception::sensors = nullptr

The Sensors used for Perception.

sensorCount

unsigned int Passer::RoboidControl::Perception::sensorCount = 0

The number of Sensors used for Perception.

lastUpdateTimeMs

float Passer::RoboidControl::Perception::lastUpdateTimeMs = 0

lastObjectId

unsigned char Passer::RoboidControl::Perception::lastObjectId = 1

maxObjectCount

unsigned char Perception::maxObjectCount = 7

static

trackedObjects

InterestingThing** Passer::RoboidControl::Perception::trackedObjects

---

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

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