BB2004Calibrator Class Reference

#include <BB2004Calibrator.h>

Inheritance diagram for BB2004Calibrator:

SensorBehaviorControl LinesTables2004 Module SensorBehaviorControlInterfaces MessageHandler List of all members.

Public Member Functions

 BB2004Calibrator (const SensorBehaviorControlInterfaces &interfaces)
virtual void execute ()
virtual bool handleMessage (InMessage &message)

Private Types

 numOfIndividuals = 15
 waitPerGeneration = 10000
enum  { numOfIndividuals = 15, waitPerGeneration = 10000 }

Private Member Functions

void evolve (const SensorData &sensorData)

Private Attributes

CameraMatrix cameraMatrix
TaskVisionData taskVisionData
RobotPose robotPose
BallModel ballModel
PlayerPoseCollection playerPoseCollection
RobotState robotState
CalibrationRequest calibrationRequest
LandmarksPercept landmarksPercept
BallPercept ballPercept
LinesPercept linesPercept
GoalLinesPercept goalLinesPercept
EdgesPercept edgesPercept
PlayersPercept playersPercept
ObstaclesPercept obstaclesPercept
SpecialPercept specialPercept
GT2004ImageProcessor imageProcessor
RingBuffer< SensorData, 16 > buffer
SLAMData slamData
Image imageBuffer
BBPopulation< CalibrationIndividualpopulation
Vector2< double > fitness [numOfIndividuals]
int evolutions
int count [numOfIndividuals]
unsigned timeStamp

Detailed Description

The class calibrates the correction values for the camera matrix.

Definition at line 98 of file BB2004Calibrator.h.


Member Enumeration Documentation

anonymous enum [private]

Enumerator:
numOfIndividuals  The number of individuals in the population.
waitPerGeneration  The time to wait per generation in ms.

Definition at line 139 of file BB2004Calibrator.h.


Constructor & Destructor Documentation

BB2004Calibrator::BB2004Calibrator ( const SensorBehaviorControlInterfaces interfaces  ) 

Constructor.

Parameters:
interfaces The parameters of the BB2004Calibrator module.

Definition at line 82 of file BB2004Calibrator.cpp.

References count, and numOfIndividuals.


Member Function Documentation

void BB2004Calibrator::evolve ( const SensorData sensorData  )  [private]

The function performs a single evolution step.

Parameters:
sensorData The sensor data with the same time stamp as the image in "imageBuffer".

Definition at line 145 of file BB2004Calibrator.cpp.

References abs(), Statistics::analyze(), RobotVertices::bodyRoll, BodyPosture::bodyRollCalculatedFromLegSensors, RobotVertices::bodyTilt, BodyPosture::bodyTiltCalculatedFromLegSensors, LinesPercept::border, Kinematics::calcNeckAndLegPositions(), Kinematics::calculateCameraMatrix(), cameraMatrix, count, SensorData::data, CalibrationIndividual::dump(), evolutions, GT2004ImageProcessor::execute(), BBPopulation< T >::extrapolate(), OutMessage::finishMessage(), fitness, fromMicroRad(), SystemCall::getCurrentSystemTime(), getDebugOut(), CalibrationIndividual::getFitness(), BBPopulation< T >::getFittest(), BBPopulation< T >::getStatistics(), SystemCall::getTimeSince(), SensorData::headPan, SensorData::headTilt, idText, imageProcessor, BBPopulation< T >::interpolate(), linesPercept, RobotVertices::neckHeight, BodyPosture::neckHeightCalculatedFromLegSensors, SensorData::neckTilt, LinesPercept::numberOfPoints, numOfIndividuals, LinesTables2004::observationTable, OUTPUT, LinesPercept::points, population, OutMessage::text, text, timeStamp, waitPerGeneration, and Vector2< V >::y.

Referenced by execute().

void BB2004Calibrator::execute (  )  [virtual]

The function executes the module.

Implements Module.

Definition at line 110 of file BB2004Calibrator.cpp.

References RingBuffer< V, n >::add(), buffer, evolutions, evolve(), SensorDataBuffer::frame, Image::frameNumber, SystemCall::getCurrentSystemTime(), RingBuffer< V, n >::getNumberOfEntries(), HeadControlMode::headControlMode, SensorBehaviorControlInterfaces::headControlMode, ifdef(), SensorBehaviorControlInterfaces::image, imageBuffer, HeadControlMode::lookParallelToGround, SensorBehaviorControlInterfaces::motionRequest, MotionRequest::motionType, WalkRequest::normal, TailRequest::noTailWag, SensorDataBuffer::numOfFrames, SensorBehaviorControlInterfaces::sensorDataBuffer, MotionRequest::tailRequest, TailRequest::tailRequestID, timeStamp, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, and WalkRequest::walkType.

bool BB2004Calibrator::handleMessage ( InMessage message  )  [virtual]

The function handles messages sent to the module.

Parameters:
message A message.
Returns:
Was the message handled by this module?

Reimplemented from Module.

Definition at line 214 of file BB2004Calibrator.cpp.


Member Data Documentation

BallModel BB2004Calibrator::ballModel [private]

A dummy ball model for the image processor.

Definition at line 123 of file BB2004Calibrator.h.

BallPercept BB2004Calibrator::ballPercept [private]

A dummy ball percept for the image processor.

Definition at line 128 of file BB2004Calibrator.h.

RingBuffer<SensorData, 16> BB2004Calibrator::buffer [private]

A buffer for the sensor data of the previous 16 frames.

Definition at line 136 of file BB2004Calibrator.h.

Referenced by execute().

CalibrationRequest BB2004Calibrator::calibrationRequest [private]

A dummy calibration request for the image processor.

Definition at line 126 of file BB2004Calibrator.h.

CameraMatrix BB2004Calibrator::cameraMatrix [private]

The camera matrix that will be set for the image processor.

Reimplemented from SensorBehaviorControlInterfaces.

Definition at line 120 of file BB2004Calibrator.h.

Referenced by evolve().

int BB2004Calibrator::count[numOfIndividuals] [private]

Variables that count how many fitnesses have been accumulated in "fitnesses".

Definition at line 150 of file BB2004Calibrator.h.

Referenced by BB2004Calibrator(), and evolve().

EdgesPercept BB2004Calibrator::edgesPercept [private]

The edges percept that will be returned by image processor.

Definition at line 131 of file BB2004Calibrator.h.

int BB2004Calibrator::evolutions [private]

A counter for the number of evolutions.

Definition at line 150 of file BB2004Calibrator.h.

Referenced by evolve(), and execute().

Vector2<double> BB2004Calibrator::fitness[numOfIndividuals] [private]

The accumulated (temporary) fitnesses of the individuals.

Definition at line 149 of file BB2004Calibrator.h.

Referenced by evolve().

GoalLinesPercept BB2004Calibrator::goalLinesPercept [private]

Another dummy.

Definition at line 130 of file BB2004Calibrator.h.

Image BB2004Calibrator::imageBuffer [private]

A buffer for the previous image.

Definition at line 138 of file BB2004Calibrator.h.

Referenced by execute().

GT2004ImageProcessor BB2004Calibrator::imageProcessor [private]

The standard image processor used for calibration.

Definition at line 135 of file BB2004Calibrator.h.

Referenced by evolve().

LandmarksPercept BB2004Calibrator::landmarksPercept [private]

A dummy landmark percept for the image processor.

Definition at line 127 of file BB2004Calibrator.h.

LinesPercept BB2004Calibrator::linesPercept [private]

The lines percept that will be returned by image processor.

Definition at line 129 of file BB2004Calibrator.h.

Referenced by evolve().

ObstaclesPercept BB2004Calibrator::obstaclesPercept [private]

A dummy obstacles percept for the image processor.

Definition at line 133 of file BB2004Calibrator.h.

PlayerPoseCollection BB2004Calibrator::playerPoseCollection [private]

A dummy player pose collection for the image processor.

Definition at line 124 of file BB2004Calibrator.h.

PlayersPercept BB2004Calibrator::playersPercept [private]

A dummy players percept for the image processor.

Definition at line 132 of file BB2004Calibrator.h.

BBPopulation<CalibrationIndividual> BB2004Calibrator::population [private]

The population of individuals.

Definition at line 148 of file BB2004Calibrator.h.

Referenced by evolve().

RobotPose BB2004Calibrator::robotPose [private]

A dummy robot pose for the image processor.

Definition at line 122 of file BB2004Calibrator.h.

RobotState BB2004Calibrator::robotState [private]

A dummy robot state for the image processor.

Reimplemented from SensorBehaviorControlInterfaces.

Definition at line 125 of file BB2004Calibrator.h.

SLAMData BB2004Calibrator::slamData [private]

Definition at line 137 of file BB2004Calibrator.h.

SpecialPercept BB2004Calibrator::specialPercept [private]

A dummy special percept for the image processor.

Definition at line 134 of file BB2004Calibrator.h.

TaskVisionData BB2004Calibrator::taskVisionData [private]

A dummy taskvision data pose for the image processor.

Definition at line 121 of file BB2004Calibrator.h.

unsigned BB2004Calibrator::timeStamp [private]

The beginning of the current evaluation of the individuals.

Definition at line 152 of file BB2004Calibrator.h.

Referenced by evolve(), and execute().


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