lejos.robotics.objectdetection

Class RangeFeature

java.lang.Object

lejos.robotics.objectdetection.RangeFeature

All Implemented Interfaces:

Feature, Transmittable

public class RangeFeature
extends java.lang.Object
implements Feature, Transmittable

This class is a basic data container for information retrieved about an object detected by sensors. The RangeFeature contains only the most basic range information of a detected object, which is RangeReading. The RangeReading contains range and angle data relative to the robot.

It can be extended to include more information, such as color. For example, a ColorFeature would rely on a ColorFeatureDetector to supply color information and range. The ColorFeatureDetector could extend FeatureDetector and accept a camera in the constructor to identify color of a detected object. This type of class would be useful to allow soccer robots to identify team-mates, the soccer ball, and the different goals.

Author:

BB

Constructor Summary

Constructors

Constructor and Description
RangeFeature(RangeReading rr) Creates a RangeFeature containing a single RangeReading.
RangeFeature(RangeReadings rrs) Creates a RangeFeature containing multiple RangeReadings.
RangeFeature(RangeReadings rrs, Pose pose) Creates a RangeFeature containing multiple RangeReadings.

Method Summary

Modifier and Type	Method and Description
void	dumpObject(java.io.DataOutputStream dos)
Pose	getPose()
RangeReading	getRangeReading() Returns the RangeReading for this particular detected feature.
RangeReadings	getRangeReadings() Returns a set of RangeReadings for a number of detected objects.
long	getTimeStamp() The time-stamp is the recorded system time when the range reading was taken.
void	loadObject(java.io.DataInputStream dis)

Methods inherited from class java.lang.Object

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

Constructor Detail

RangeFeature

public RangeFeature(RangeReading rr)

Creates a RangeFeature containing a single RangeReading. If the getRangeReadings() method is subsequently called, it will return a RangeReadings set containing only one RangeReading (rr).

Parameters:

rr - The RangeReading.

RangeFeature

public RangeFeature(RangeReadings rrs)

Creates a RangeFeature containing multiple RangeReadings. The getRangeReading() method will return the RangeReading with the smallest range.

Parameters:

rrs - A (@link RangeReadings} object containing a set of RangeReading values.

RangeFeature

public RangeFeature(RangeReadings rrs,
                    Pose pose)

Creates a RangeFeature containing multiple RangeReadings. The getRangeReading() method will return the RangeReading with the smallest range.

Parameters:

rrs - A (@link RangeReadings} object containing a set of RangeReading values.

pose - the pose of the robot when the reading was taken

Method Detail

getRangeReading

public RangeReading getRangeReading()

Description copied from interface: Feature

Returns the RangeReading for this particular detected feature. If the sensor is capable of detecting multiple objects, this method will return the closest object it detected.

Specified by:

getRangeReading in interface Feature

Returns:

RangeReading object containing angle and range.

getTimeStamp

public long getTimeStamp()

Description copied from interface: Feature

The time-stamp is the recorded system time when the range reading was taken. This is generally recorded in the constructor of the Feature implementation. The time-stamp can help identify the vector of the detected object.

Specified by:

getTimeStamp in interface Feature

Returns:

The system time (in milliseconds) when the reading was taken.

getRangeReadings

public RangeReadings getRangeReadings()

Description copied from interface: Feature

Returns a set of RangeReadings for a number of detected objects. If the sensor is only capable of returning a single reading, or if only one object was detected, it will only contain one RangeReading in the set.

Specified by:

getRangeReadings in interface Feature

Returns:

RangeReadings object containing a set of RangeReading objects.

getPose

public Pose getPose()

dumpObject

public void dumpObject(java.io.DataOutputStream dos)
                throws java.io.IOException

Specified by:

dumpObject in interface Transmittable

Throws:

java.io.IOException

loadObject

public void loadObject(java.io.DataInputStream dis)
                throws java.io.IOException

Specified by:

loadObject in interface Transmittable

Throws:

java.io.IOException