ch.unizh.ini.jaer.projects.rccar
Class Driver

java.lang.Object
  net.sf.jaer.eventprocessing.EventFilter
      net.sf.jaer.eventprocessing.EventFilter2D
          ch.unizh.ini.jaer.projects.rccar.Driver

All Implemented Interfaces:

FrameAnnotater

public class Driver
extends EventFilter2D
implements FrameAnnotater

Drives the RC car using the output from an enclosed line detector filter. The enclosed filter chain is a MultiLineClusterTracker which itself encloses a chain of XYTypeFilter - BackgroundActivityFilter - OnOffProximityFilter - SimpleOrientationFilter.

Preference values for these enclosed filters are stored by keys based on the enclosing Driver filter.

Driver uses the detected line to control steering and speed to drive along the line. The line is parameritized by its normal form (rho, theta), where rho is the angle of the normal to the line from the center of the chip image and theta is the length of the normal vector (closest passge to the origin at the chip image center). The angle rho is 0 or 180 for a vertical line and is 90 or 270 for a horizontal line.

(rho,theta) control the steering

Fires PropertyChangeEvent for the following

• "sendControlToBlenderEnabled" - when the control signaling to blender is enabled

Author:

tobi

Nested Class Summary

class

Driver.DriverPreFilter This filter chain is a common preprocessor for Driver line detectors

Field Summary

static float

MAX_SPEED Maximum constant speed of car under automatic driving via Driver property.

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

Driver(AEChip chip)
Creates a new instance of Driver

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) Applies the enclosed LineDetector filter to extract the lowpassed dominant line feature in the scene, then computes steering and speed based on the filter output.
float	getAngleGain()
float	getDefaultSpeed()
java.lang.Object	getFilterState() should return the filter state in some useful form
float	getOffsetGain()
float	getSteerCommand() Gets the actual steering command based on flipSteering
float	getTauDynMs()
void	initFilter() this should allocate and initialize memory: it may be called when the chip e.g.
boolean	isFlipSteering()
boolean	isLoggingEnabled()
boolean	isSendControlToBlenderEnabled()
boolean	isShowAccelerometerGUI()
boolean	isUseMultiLineTracker()
void	resetFilter() should reset the filter to initial state
void	setAngleGain(float angleGain) Sets steering angleGain
void	setDefaultSpeed(float defaultSpeed)
void	setFlipSteering(boolean flipSteering) If set true, then drive towards events (road is textured), if false, drive away from events (side is textured).
void	setLoggingEnabled(boolean loggingEnabled)
void	setOffsetGain(float offsetGain) Sets steering offsetGain
void	setSendControlToBlenderEnabled(boolean sendControlToBlenderEnabled)
void	setShowAccelerometerGUI(boolean showAccelerometerGUI)
void	setTauDynMs(float tauDynMs)
void	setUseMultiLineTracker(boolean useMultiLineTracker)

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

checkOutputPacketEventType, checkOutputPacketEventType, getEnclosedFilter, resetOut, setEnclosedFilter, setFilterEnabled

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

MAX_SPEED

public static final float MAX_SPEED

Maximum constant speed of car under automatic driving via Driver property. Limited for safety.

See Also:

Constant Field Values

Constructor Detail

Driver

public Driver(AEChip chip)

Creates a new instance of Driver

Method Detail

filterPacket

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

Applies the enclosed LineDetector filter to extract the lowpassed dominant line feature in the scene, then computes steering and speed based on the filter output. The driver only controls the car speed via the throttle control, but the speed is reduced automatically by the controller according to the controller steering command (more steer = lower speed). The instantaneous steering command is based on the horizontal position of the line in the scene; if the line is to the right, steer left, and vice versa. In addition, the instantaneous steering command is lowpass filtered to produce the actual steering command.

Specified by:

filterPacket in class EventFilter2D

Parameters:

in - the input packet

Returns:

the output packet, which is the output of the enclosed filter chain.

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

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

getOffsetGain

public float getOffsetGain()

setOffsetGain

public void setOffsetGain(float offsetGain)

Sets steering offsetGain

getAngleGain

public float getAngleGain()

setAngleGain

public void setAngleGain(float angleGain)

Sets steering angleGain

isFlipSteering

public boolean isFlipSteering()

setFlipSteering

public void setFlipSteering(boolean flipSteering)

If set true, then drive towards events (road is textured), if false, drive away from events (side is textured).

getSteerCommand

public float getSteerCommand()

Gets the actual steering command based on flipSteering

isUseMultiLineTracker

public boolean isUseMultiLineTracker()

setUseMultiLineTracker

public void setUseMultiLineTracker(boolean useMultiLineTracker)

getTauDynMs

public float getTauDynMs()

setTauDynMs

public void setTauDynMs(float tauDynMs)

getDefaultSpeed

public float getDefaultSpeed()

setDefaultSpeed

public void setDefaultSpeed(float defaultSpeed)

isSendControlToBlenderEnabled

public boolean isSendControlToBlenderEnabled()

setSendControlToBlenderEnabled

public void setSendControlToBlenderEnabled(boolean sendControlToBlenderEnabled)

isLoggingEnabled

public boolean isLoggingEnabled()

setLoggingEnabled

public void setLoggingEnabled(boolean loggingEnabled)

isShowAccelerometerGUI

public boolean isShowAccelerometerGUI()

setShowAccelerometerGUI

public void setShowAccelerometerGUI(boolean showAccelerometerGUI)