73 lines
2.1 KiB
C++
73 lines
2.1 KiB
C++
#include "TrackedObject.h"
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#include <math.h>
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InterestingThing::InterestingThing(Sensor *sensor, Polar position) {
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this->id = 0;
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this->confidence = maxConfidence;
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this->sensor = sensor;
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this->position = Spherical(position);
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this->updated = true;
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}
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InterestingThing::InterestingThing(Sensor *sensor, Spherical position,
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Quaternion orientation) {
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this->id = 0;
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this->confidence = maxConfidence;
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this->sensor = sensor;
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this->position = position;
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this->orientation = orientation;
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this->updated = true;
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}
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#include <Arduino.h>
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bool InterestingThing::IsTheSameAs(InterestingThing *otherObj) {
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if (id != 0 && id == otherObj->id)
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return true;
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if (type != otherObj->type)
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return false;
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printf(" %f (%f %f) is same as %f (%f %f)\n", otherObj->position.distance,
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(float)otherObj->position.horizontalAngle,
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(float)otherObj->position.verticalAngle, position.distance,
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(float)position.horizontalAngle, (float)position.verticalAngle);
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if (fabsf(position.distance - otherObj->position.distance) > equalityDistance)
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return false;
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if (fabsf(position.horizontalAngle - otherObj->position.horizontalAngle) >
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equalityAngle)
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return false;
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if (fabsf(position.verticalAngle - otherObj->position.verticalAngle) >
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equalityAngle)
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return false;
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return true;
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}
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bool InterestingThing::DegradeConfidence(float deltaTime) {
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unsigned char confidenceDrop =
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(unsigned char)((float)confidenceDropSpeed * deltaTime);
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// Make sure the confidence always drops
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if (confidenceDrop == 0)
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confidenceDrop = 1;
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if (confidence <= confidenceDrop) {
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// object is dead
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confidence = 0;
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return false;
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} else {
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confidence -= confidenceDrop;
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return true;
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}
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}
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void InterestingThing::Refresh(Polar position) {
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this->position = Spherical(position);
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this->confidence = maxConfidence;
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this->updated = true;
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}
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void InterestingThing::Refresh(Spherical position, Quaternion orientation) {
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this->position = position;
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this->orientation = orientation;
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this->confidence = maxConfidence;
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this->updated = true;
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}
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