void LocalizationTeamBallProvider2014::update(LocalizationTeamBall& localizationTeamBall)
{
// Initialize representation
localizationTeamBall.isValid = false;
hypotheses.clear();
goalieSawTheBall = false;
// Gather new information from all teammates
updateObservations();
// Cluster observations
clusterObservations();
// Compute representation
computeTeamBallFromBestCluster(localizationTeamBall);
}
/* Updates the observations and the mc filter if the robot is on the move or
* changed it's position since last update
*/
void Localization::update() {
if (!isDestinationSet() && !isGlobalCameraAvailable() ){
//cout << "updating observations" << endl;
updateObservations();
}
//if ( obs.size() > 0 )
// displayObservationSummary();
Move lastMove = getLastMove();
//if ( lastMove.getX() + lastMove.getY() + lastMove.getTheta() != 0 )
// cout << "lastMove(" << lastMove.getX() << "," << lastMove.getY() << "," << lastMove.getTheta() << ")" << endl ;
if ( isGlobalCameraAvailable() ){
if ( lastMove.getX() + lastMove.getY() + lastMove.getTheta() != 0 ){
currentPos.moveRelative(lastMove);
}
}
else if (obs.size() > 0 || lastMove.getX() + lastMove.getY() + lastMove.getTheta() != 0) {
cout << "applying filter" << endl;
mc->updateFilter(lastMove, obs);
}
}
