visionobject.h

该文件是包含了机器人足球比赛中的整个系统的代码

// These objects are just what Vision tells the world.

#ifndef _VisionObject_h_DEFINED
#define _VisionObject_h_DEFINED

#include "../VISION/VisionData.h"

// corresponds to below enum...
const static long beaconCoords[16][2] = {{-1,-1}, {-1,-1}, {-145,-220}, {-145,0}, {-145,220}, {145,-220}, {145,0}, {145,220}, {-30,220}, {30,220}, {30,-220}, {-30,-220}, {-1,-1}, {-1,-1}, {-1,-1}, {-1,-1}};

//Field Direction Definition:
//y-axis from Goal to Goal
//Blue Goal at Top of Field (+ve y)
//Orientation: 0 degrees = Heading Towards Blue Goal
//Positive Orientation = Left (-ve x)

//NOTE! WM makes it so +y is always the opposition half of the field ...

class VisionObject
{
public:
  enum ObjectType
  {
    OT_INVALID = 0,
    OT_BALL    = 1,
    // OT_BEACON_<TOPCOLOR><BOTTOMCOLOR>
    OT_BEACON_YP = 2,
    OT_BEACON_GP = 3,
    OT_BEACON_BP = 4,
    OT_BEACON_PY = 5,
    OT_BEACON_PG = 6,
    OT_BEACON_PB = 7,
    OT_GOAL_B_L = 8,
    OT_GOAL_B_R = 9,
    OT_GOAL_Y_L = 10,//This is the post at (20,-210) ie left yellow post if facing the YELLOW goal
    OT_GOAL_Y_R = 11,
    OT_GOAL_B = 12,
    OT_GOAL_Y = 13,
    OT_ROBOT_RED = 14,
    OT_ROBOT_BLUE = 15,
    OT_GOAL_CORNER_IN = 16, // Indicates that the object represent the corner of the penalty box
    OT_GOAL_CORNER_OUT = 17, // Indicates that the object represent the corner of the penalty box
    OT_CENTRE_POINT = 18, // Position of the centre circle on the field
    OT_CENTRE_LINE_CORNER = 19, // Intersection point of the centre field line and side line 
  };

  VisionObject();
  ~VisionObject();

  // Note: For any other blob other than the beacons top and bottom blob are set to be equal
  void SetData(ObjectType type, Blob* topBlob, Blob* bottomBlob, double heading, double elevation, double distance, int cx, int cy, int confidence);

  ObjectType type_;
  double heading_;
  double elevation_;
  double distance_;
  int centreX_;
  int centreY_;
  Blob* topBlob_;
  Blob* bottomBlob_;
  int confidence_;
};

#endif