Package lejos.robotics.objectdetection

Class 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 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