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

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

All Implemented Interfaces:

FrameAnnotater

public class ServoReaction
extends EventFilter2D
implements FrameAnnotater

Controls a servo motor to servo to some measuure of location computed from events. Used in Telluride to make a two-arm mimic that waves at you when you wave at the retina, and to make a fast goalie that swings an arm in the way of a ball rolling towards a goal box.

Author:

tobi

Field Summary

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

enclosedFilter, out

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

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

Constructor Summary

ServoReaction(AEChip chip)
Creates a new instance of ServoReaction

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	getGain()
void	initFilter() this should allocate and initialize memory: it may be called when the chip e.g.
boolean	isFlipX()
boolean	isGoalieMode()
boolean	isUseClusterTracker()
boolean	isUseVelocityForGoalie()
void	resetFilter() should reset the filter to initial state
void	setFilterEnabled(boolean yes) Resets the filter
void	setFlipX(boolean flipX)
void	setGain(float gain)
void	setGoalieMode(boolean goalieMode)
void	setUseClusterTracker(boolean useClusterTracker)
void	setUseVelocityForGoalie(boolean useVelocityForGoalie)

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

Constructor Detail

ServoReaction

public ServoReaction(AEChip chip)

Creates a new instance of ServoReaction

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()

isFlipX

public boolean isFlipX()

setFlipX

public void setFlipX(boolean flipX)

isUseClusterTracker

public boolean isUseClusterTracker()

setUseClusterTracker

public void setUseClusterTracker(boolean useClusterTracker)

getGain

public float getGain()

setGain

public void setGain(float gain)

isGoalieMode

public boolean isGoalieMode()

setGoalieMode

public void setGoalieMode(boolean goalieMode)

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

isUseVelocityForGoalie

public boolean isUseVelocityForGoalie()

setUseVelocityForGoalie

public void setUseVelocityForGoalie(boolean useVelocityForGoalie)