86 lines
3.5 KiB
C++
86 lines
3.5 KiB
C++
#pragma once
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#include "ControlCore/LinearAlgebra/Angle.h"
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#include "ControlCore/LinearAlgebra/Polar.h"
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#include "ControlCore/LinearAlgebra/Quaternion.h"
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#include "ControlCore/LinearAlgebra/Spherical.h"
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#include "ControlCore/LinearAlgebra/SwingTwist.h"
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#include "Sensor.h"
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namespace Passer {
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namespace RoboidControl {
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/// @brief An object tracked by the roboid
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class InterestingThing : public Thing {
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public:
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/// @brief An object tracked by the roboid
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/// @param sensor The Sensor which detected this object
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/// @param position The position in polar coordinates local to the roboid
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// InterestingThing(Sensor *sensor, Polar position);
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InterestingThing(Sensor *sensor, Spherical16 position,
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SwingTwist16 orientation = SwingTwist16::identity);
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/// @brief Update the position of the object
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/// @param position The latest known position of the object
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/// @details This will also update the confidence of the object to the
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/// maxConfidence value
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// void Refresh(Polar position);
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void Refresh(Spherical16 position,
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SwingTwist16 orientation = SwingTwist16::identity);
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/// @brief Decrease the confidence based on the elapsed time
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/// @param deltaTime The time since the last DegradeConfidence call
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/// @return Returns false when the object's confidence has reached zero, true
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/// otherwise
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/// @details When this function returns false, the object should no longer be
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/// tracked.
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bool DegradeConfidence(float deltaTime);
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/// @brief Determine whether this object is the same as another object
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/// @param otherObj The other object to compare to
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/// @return Returns true when both objects are considered the same
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/// The result of this check depends on the equalityDistance and equalityAngle
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/// value.
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bool IsTheSameAs(InterestingThing *otherObj);
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/// @brief The maximum difference in distance from the roboid in which two
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/// objects may be considered the same
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/// @details When the difference in distance is exactly this
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/// value, the objects can be the same.
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/// With a value of 0.3, objects with coordinates position->distance
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/// = 1.2F and position->distance = 1.6 will be considered different, but
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/// objects with coordinates position->distance = 1.2 and position->distance
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/// = 1.0 can be the same.
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static constexpr float equalityDistance = 0.3F;
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/// @brief The maximum difference in angle from the roboids orientation in
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/// which two objects may be considered the same
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/// @details When the difference in angle is exactly this value, the objects
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/// can be the same.
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/// With a value of 5.0, object with coordinates position->angle = 30
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/// and position->angle = 36 will be considered different, but object with
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/// coordinated position->angle = 30 and position->angle = 27 can be the same.
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static constexpr float equalityAngle = 5.0F;
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// unsigned char networkId;
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/// @brief The id of the tracked object
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// unsigned char id;
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// char parentId = 0;
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/// @brief The current position of the object
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// Spherical16 position = Spherical16::zero;
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/// @brief The current orientation of the object
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// SwingTwist16 orientation = SwingTwist16();
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// Quaternion orientation = Quaternion::identity;
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/// @brief The sensor which provided that lastet pose this object
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Sensor *sensor = nullptr;
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// unsigned char type = 0x00;
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unsigned char confidence;
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bool updated = false;
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protected:
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static constexpr unsigned char maxConfidence = 255;
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static constexpr unsigned char confidenceDropSpeed = 10; // 150; // 2;
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};
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} // namespace RoboidControl
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} // namespace Passer
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