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

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

All Implemented Interfaces:

FrameAnnotater

public class FancyDriver
extends EventFilter2D
implements FrameAnnotater

The FancyDriver controls the RcCar

Author:

Christian Braendli, Robin Ritz

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

FancyDriver(AEChip chip)
Creates a new instance of FancyDriver

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.
float	getAngleGain()
float	getDefaultSpeed()
float	getDefaultSteeringAngle()
java.lang.Object	getFilterState() should return the filter state in some useful form
float	getKd()
float	getKi()
float	getKp()
float	getLateralGain()
float	getPhiK()
float	getPhipK()
float	getServoSteerCommand()
boolean	getUseLQRController()
boolean	getUsePIDController()
boolean	getUseRouteFromBlender()
boolean	getUseUserK()
float	getXK()
float	getXpK()
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	isUseHingeLineTracker() Gets the actual steering command based on flipSteering
void	resetFilter() should reset the filter to initial state
void	setAngleGain(float angleGain)
void	setDefaultSpeed(float defaultSpeed)
void	setDefaultSteeringAngle(float defaultSteeringAngle)
void	setFlipSteering(boolean flipSteering) If set true, then drive towards events (road is textured), if false, drive away from events (side is textured).
void	setKd(float kd)
void	setKi(float ki)
void	setKp(float kp)
void	setLateralGain(float lateralGain)
void	setLoggingEnabled(boolean loggingEnabled)
void	setPhiK(float phiK)
void	setPhipK(float phipK)
void	setSendControlToBlenderEnabled(boolean sendControlToBlenderEnabled)
void	setShowAccelerometerGUI(boolean showAccelerometerGUI)
void	setUseHingeLineTracker(boolean useHingeLineTracker)
void	setUseLQRController(boolean useLQRController)
void	setUsePIDController(boolean usePIDController)
void	setUseRouteFromBlender(boolean useRouteFromBlender)
void	setUseUserK(boolean useUserK)
void	setXK(float xK)
void	setXpK(float xpK)

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

Constructor Detail

FancyDriver

public FancyDriver(AEChip chip)

Creates a new instance of FancyDriver

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

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

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).

isUseHingeLineTracker

public boolean isUseHingeLineTracker()

Gets the actual steering command based on flipSteering

setUseHingeLineTracker

public void setUseHingeLineTracker(boolean useHingeLineTracker)

getServoSteerCommand

public float getServoSteerCommand()

getDefaultSpeed

public float getDefaultSpeed()

getDefaultSteeringAngle

public float getDefaultSteeringAngle()

setDefaultSpeed

public void setDefaultSpeed(float defaultSpeed)

setDefaultSteeringAngle

public void setDefaultSteeringAngle(float defaultSteeringAngle)

isSendControlToBlenderEnabled

public boolean isSendControlToBlenderEnabled()

setSendControlToBlenderEnabled

public void setSendControlToBlenderEnabled(boolean sendControlToBlenderEnabled)

isShowAccelerometerGUI

public boolean isShowAccelerometerGUI()

setShowAccelerometerGUI

public void setShowAccelerometerGUI(boolean showAccelerometerGUI)

isLoggingEnabled

public boolean isLoggingEnabled()

setLoggingEnabled

public void setLoggingEnabled(boolean loggingEnabled)

setUsePIDController

public void setUsePIDController(boolean usePIDController)

getUsePIDController

public boolean getUsePIDController()

setUseLQRController

public void setUseLQRController(boolean useLQRController)

getUseLQRController

public boolean getUseLQRController()

setUseUserK

public void setUseUserK(boolean useUserK)

getUseUserK

public boolean getUseUserK()

setUseRouteFromBlender

public void setUseRouteFromBlender(boolean useRouteFromBlender)

getUseRouteFromBlender

public boolean getUseRouteFromBlender()

setKi

public void setKi(float ki)

getKi

public float getKi()

setKd

public void setKd(float kd)

getKd

public float getKd()

setKp

public void setKp(float kp)

getKp

public float getKp()

setXK

public void setXK(float xK)

getXK

public float getXK()

setXpK

public void setXpK(float xpK)

getXpK

public float getXpK()

setPhiK

public void setPhiK(float phiK)

getPhiK

public float getPhiK()

setPhipK

public void setPhipK(float phipK)

getPhipK

public float getPhipK()

getLateralGain

public float getLateralGain()

setLateralGain

public void setLateralGain(float lateralGain)

getAngleGain

public float getAngleGain()

setAngleGain

public void setAngleGain(float angleGain)