EDU.gatech.cc.is.abstractrobot
Interface VisualObjectSensor

All Known Subinterfaces:
Capture, MultiForageN150, RescueVan

public interface VisualObjectSensor

Provides an abstract interface to the simulated hardware of a robot that equipped with vision.

Copyright (c)1997, 1998 Tucker Balch


Method Summary
 Vec2[] getVisualObjects(long timestamp, int channel)
          Get an array of Vec2s that represent the locations of visually sensed objects egocentrically from center of the robot to the objects currently sensed by the vision system.
 void setVisionNoise(double mean, double stddev, long seed)
          This sets the amount of noise that will affect the sensor.
 

Method Detail

getVisualObjects

public Vec2[] getVisualObjects(long timestamp,
                               int channel)
Get an array of Vec2s that represent the locations of visually sensed objects egocentrically from center of the robot to the objects currently sensed by the vision system.
Parameters:
timestamp - only get new information if timestamp > than last call or timestamp == -1 .
channel - (1-6) which type/color of object to retrieve.
Returns:
the sensed objects.

setVisionNoise

public void setVisionNoise(double mean,
                           double stddev,
                           long seed)
This sets the amount of noise that will affect the sensor. the noise is a normal distribution with mean of mean.
Parameters:
mean - this is the mean of the distribution. most cases this will be 0
stddev - this is the standard deviation of the noise (>= 0.0) if equal to 0, then noise will not affect the sensor
seed - this is the value used to seed the number generator, for repeatable pseudorandom noise.