// Initialization, happens every frame.
void VisualCross::init()
{
width = 0;
height = 0;
setX(0);
setY(0);
centerX = 0;
centerY = 0;
angleX = 0;
angleY = 0;
focDist = 0;
setDistance(0);
setBearing(0);
elevation = 0;
switch (id) {
case YELLOW_GOAL_CROSS:
setPossibleCrosses(&ConcreteCross::yellowGoalCrossList);
break;
case BLUE_GOAL_CROSS:
setPossibleCrosses(&ConcreteCross::blueGoalCrossList);
break;
case ABSTRACT_CROSS:
setPossibleCrosses(&ConcreteCross::abstractCrossList);
break;
}
}
// Initialization, happens every frame.
void VisualRobot::init()
{
width = 0;
height = 0;
setX(0);
setY(0);
centerX = 0;
centerY = 0;
angleX = 0;
angleY = 0;
setDistance(0);
setBearing(0);
elevation = 0;
on = false;
}
/**
* Calculate and set the standard deviation for the bearing measurement.
* Set the bearing measurement.
*
* @param _bearing the distance estimate to be set
*/
void VisualCross::setBearingWithSD(float _bearing)
{
setBearing(_bearing);
setBearingSD(robotBearingToSD(_bearing));
}
/**
* Calculate and set the standard deviation for the bearing measurement.
* Set the bearing measurement.
*
* @param _bearing the bearing estimate to be set
*/
void VisualCorner::setBearingWithSD(float _bearing, float _distance)
{
setBearing(_bearing);
setBearingSD(cornerBearingToSD(_bearing, _distance));
}