basestation.vision

Class VisionManager

java.lang.Object

basestation.vision.VisionManager

public class VisionManager
extends java.lang.Object

Collects input from multiple vision systems and exposes a unified vision API across the systems. Vision is relatively under-tested and may be issue-prone/ in need of redesign.

Constructor Summary

Constructors

Constructor and Description
VisionManager()

Method Summary

Modifier and Type	Method and Description
int	addVisionSystem(VisionSystem vs) Adds vs to be tracked by the VisionManager.
java.util.List<VisionObject>	getAllLocationData() Returns a list of vision objects with vision ids.
java.util.Set<java.util.Map.Entry<java.lang.Integer,VisionSystem>>	getAllVisionMappings()
VisionCoordinate	getBotCoordinate(Bot bot) Gets the location of a bot relative to the BaseStation's interpretation or null if no such coordinate exists
VisionSystem	getVisionSystemById(int visionSystemId)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

VisionManager

public VisionManager()

Method Detail

addVisionSystem

public int addVisionSystem(VisionSystem vs)

Adds vs to be tracked by the VisionManager. Assumes vs is already calibrated to the canonicalVisionSystem

Parameters:

vs - The visionSystem to begin tracking

Returns:

the counter id of vs

getAllVisionMappings

public java.util.Set<java.util.Map.Entry<java.lang.Integer,VisionSystem>> getAllVisionMappings()

Returns:

All entries of VisionSystems with their associated ids

getAllLocationData

public java.util.List<VisionObject> getAllLocationData()

Returns a list of vision objects with vision ids. Coordinates are made canonical.

Returns:

A list of all VisionObjects tracked across all VisionSystems, relative to the Canonical system

getBotCoordinate

public VisionCoordinate getBotCoordinate(Bot bot)

Gets the location of a bot relative to the BaseStation's interpretation or null if no such coordinate exists

Parameters:

bot - The bot being looked up

Returns:

A vision coordinate or null

getVisionSystemById

public VisionSystem getVisionSystemById(int visionSystemId)

Parameters:

visionSystemId - the int associated with the desired VisionSystem

Returns:

the vision system associated with visionSystemId or null if none exists