basestation.vision

Class VisionSystem

java.lang.Object

basestation.vision.VisionSystem

Direct Known Subclasses:

CanonicalVisionSystem, OverheadVisionSystem, TangoVisionSystem

public abstract class VisionSystem
extends java.lang.Object

Represents a source of input for vision. Objects are tracked with VisionObjects which hold a VisionCoordinate. Each VisionObject must be represented by a persistent and uniquely identifiable integer which is VisionId, though VisionObjects are permitted to be changed at will as long as the integer ID is preserved for the same object.

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	VisionSystem(VisionCoordinate o) Sets up a VisionSystem with o as its origin

Method Summary

Modifier and Type	Method and Description
boolean	equals(java.lang.Object other)
abstract java.util.Set<VisionObject>	getAllObjects()
java.util.Set<VisionObject>	getAllObjectsWithRespectTo(VisionSystem other)
VisionObject	getById(int target) Returns the vision object represented by target or null if none exists
java.lang.Integer	getIdForBot(Bot b) Returns the vision id for this system representing b or null if none exists
void	mapBotToVisionId(Bot b, int id)
java.lang.String	toString()
VisionCoordinate	transformCoordinates(VisionCoordinate other, VisionSystem otherSystem) Transforms a coordinate from another system to this system.

Methods inherited from class java.lang.Object

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

Constructor Detail

VisionSystem

protected VisionSystem(VisionCoordinate o)

Sets up a VisionSystem with o as its origin

Parameters:

o - A coordinate specifying the origin of the VisionSystem

Method Detail

transformCoordinates

public VisionCoordinate transformCoordinates(VisionCoordinate other,
                                             VisionSystem otherSystem)

Transforms a coordinate from another system to this system.

Parameters:

other - The other coordinate

otherSystem - The other system

Returns:

a transformed coordinate

getAllObjects

public abstract java.util.Set<VisionObject> getAllObjects()

Returns:

the set of all VisionObjects actively tracked by the VisionSystem

getById

public VisionObject getById(int target)

Returns the vision object represented by target or null if none exists

Parameters:

target - the vision object we are looking for

Returns:

the VisionObject represented by target or null if none exists

getIdForBot

public java.lang.Integer getIdForBot(Bot b)

Returns the vision id for this system representing b or null if none exists

Parameters:

b - The bot for which you are looking up the id

Returns:

the vision id or null if none exists

mapBotToVisionId

public void mapBotToVisionId(Bot b,
                             int id)

getAllObjectsWithRespectTo

public java.util.Set<VisionObject> getAllObjectsWithRespectTo(VisionSystem other)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

equals

public boolean equals(java.lang.Object other)

Overrides:

equals in class java.lang.Object