ch.unizh.ini.jaer.chip.retina.sensorymotor
Class Batter

java.lang.Object
  net.sf.jaer.eventprocessing.EventFilter
      net.sf.jaer.eventprocessing.EventFilter2D
          ch.unizh.ini.jaer.chip.retina.sensorymotor.Batter

All Implemented Interfaces:

FrameAnnotater

public class Batter
extends EventFilter2D
implements FrameAnnotater

Controls a batting robot that uses two servo motors and two retinas in stereo vision to hit a ball.

Ball tracking uses a modified ClusterTracker to simultaneously track the ball in two retinas. The ball is independently tracked in each retina and the tracking is constrained, or hinted, by the tracking in the other retina. Initially there are no visible clusters in either retina. As soon as there is a visible cluster in one retina the cluster in the other retina is initialized with the first retina's cluster. Then the two clusters have an average x,y location and a disparity that is used to compute the distance to the ball.

Author:

tobi

Field Summary

protected static java.util.logging.Logger

log

Fields inherited from class net.sf.jaer.eventprocessing.EventFilter2D

enclosedFilter, out

Fields inherited from class net.sf.jaer.eventprocessing.EventFilter

annotationEnabled, chip, enclosedFilterChain, filterEnabled, perf, propertyTooltipMap, support

Constructor Summary

Batter(AEChip chip)
Creates a new instance of Batter

Method Summary

void	annotate(float[][][] frame) annotate the RGB frame somehow by color pixels in the rendered pixel frame data.
void	annotate(javax.media.opengl.GLAutoDrawable drawable) Each annotator enters annotate with graphics context current, in coordinates with pixel 0,0 in LL corner (note opposite from Java2D) and pixel spacing 1 unit after the scaling transform (which is already active).
void	annotate(java.awt.Graphics2D g) each annotator is called by the relevant class (e.g.
EventPacket<?>	filterPacket(EventPacket<?> in) Subclasses implement this method to define custom processing.
java.lang.Object	getFilterState() should return the filter state in some useful form
float	getSwingAngleMax()
float	getSwingBallDistance()
float	getSwingHeightMax()
float	getSwingHeightMin()
void	initFilter() this should allocate and initialize memory: it may be called when the chip e.g.
boolean	isDynamicSwingHeightEnabled()
boolean	isSwapServos()
void	resetFilter() should reset the filter to initial state
void	setDynamicSwingHeightEnabled(boolean dynamicSwingHeightEnabled)
void	setFilterEnabled(boolean yes) Resets the filter
void	setSwapServos(boolean swapServos)
void	setSwingAngleMax(float swingAngleMax) sets max extent of swing
void	setSwingBallDistance(float swingDistance)
void	setSwingHeightMax(float swingHeightMax)
void	setSwingHeightMin(float swingHeightMin)

Methods inherited from class net.sf.jaer.eventprocessing.EventFilter2D

checkOutputPacketEventType, checkOutputPacketEventType, getEnclosedFilter, resetOut, setEnclosedFilter

Methods inherited from class net.sf.jaer.eventprocessing.EventFilter

getChip, getDescription, getEnclosedFilterChain, getEnclosingFilter, getPrefs, getPropertyChangeSupport, getPropertyTooltip, isAnnotationEnabled, isEnclosed, isFilterEnabled, prefsEnabledKey, setAnnotationEnabled, setChip, setEnclosed, setEnclosedFilter, setEnclosedFilterChain, setEnclosingFilter, setPreferredEnabledState, setPrefs, setPropertyTooltip

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface net.sf.jaer.graphics.FrameAnnotater

isAnnotationEnabled, setAnnotationEnabled

Field Detail

log

protected static java.util.logging.Logger log

Constructor Detail

Batter

public Batter(AEChip chip)

Creates a new instance of Batter

Method Detail

filterPacket

public EventPacket<?> filterPacket(EventPacket<?> in)

Description copied from class: EventFilter2D

Subclasses implement this method to define custom processing.

Specified by:

filterPacket in class EventFilter2D

Parameters:

in - the input packet

Returns:

the output packet

getFilterState

public java.lang.Object getFilterState()

Description copied from class: EventFilter

should return the filter state in some useful form

Specified by:

getFilterState in class EventFilter

resetFilter

public void resetFilter()

Description copied from class: EventFilter

should reset the filter to initial state

Specified by:

resetFilter in class EventFilter

initFilter

public void initFilter()

Description copied from class: EventFilter

this should allocate and initialize memory: it may be called when the chip e.g. size parameters are changed after creation of the filter

Specified by:

initFilter in class EventFilter

setFilterEnabled

public void setFilterEnabled(boolean yes)

Description copied from class: EventFilter2D

Resets the filter

Overrides:

setFilterEnabled in class EventFilter2D

Parameters:

yes - true to reset

See Also:

EventFilter.setPreferredEnabledState()

annotate

public void annotate(float[][][] frame)

Description copied from interface: FrameAnnotater

annotate the RGB frame somehow by color pixels in the rendered pixel frame data.

Specified by:

annotate in interface FrameAnnotater

Parameters:

frame - the RGB pixel information. First dimension is Y, second is X, third is RGB

annotate

public void annotate(java.awt.Graphics2D g)

Description copied from interface: FrameAnnotater

each annotator is called by the relevant class (e.g. EyeTracker) and enters annotate with graphics context current, in coordinates with pixel 0,0 in UL corner and pixel spacing 1 unit before scaling transform (which is already active).

Specified by:

annotate in interface FrameAnnotater

Parameters:

g - the Graphics2D context

annotate

public void annotate(javax.media.opengl.GLAutoDrawable drawable)

Description copied from interface: FrameAnnotater

Each annotator enters annotate with graphics context current, in coordinates with pixel 0,0 in LL corner (note opposite from Java2D) and pixel spacing 1 unit after the scaling transform (which is already active). The FrameAnnotater then can use JOGL calls to render to the screen by getting the GL context, e.g. the following code, used in the context of an AEChip object, draws a golden lines from LL to UR of the pixel array.

        GL gl = drawable.getGL();
        gl.glBegin(GL.GL_LINES);
        gl.glColor3f(.5f, .5f, 0);
        gl.glVertex2f(0, 0);
        gl.glVertex2f(getSizeX() - 1, getSizeY() - 1);
        gl.glEnd();
 

Specified by:

annotate in interface FrameAnnotater

Parameters:

drawable - the OpenGL drawable components, e.g., GLCanvas

getSwingBallDistance

public float getSwingBallDistance()

setSwingBallDistance

public void setSwingBallDistance(float swingDistance)

isSwapServos

public boolean isSwapServos()

setSwapServos

public void setSwapServos(boolean swapServos)

getSwingHeightMin

public float getSwingHeightMin()

setSwingHeightMin

public void setSwingHeightMin(float swingHeightMin)

getSwingHeightMax

public float getSwingHeightMax()

setSwingHeightMax

public void setSwingHeightMax(float swingHeightMax)

getSwingAngleMax

public float getSwingAngleMax()

setSwingAngleMax

public void setSwingAngleMax(float swingAngleMax)

sets max extent of swing

isDynamicSwingHeightEnabled

public boolean isDynamicSwingHeightEnabled()

setDynamicSwingHeightEnabled

public void setDynamicSwingHeightEnabled(boolean dynamicSwingHeightEnabled)