org.ine.telluride.jaer.wowwee
Class RoboQuadSocialSonar

java.lang.Object
  net.sf.jaer.eventprocessing.EventFilter
      net.sf.jaer.eventprocessing.EventFilter2D
          org.ine.telluride.jaer.wowwee.RoboQuadSocialSonar

All Implemented Interfaces:

FrameAnnotater

public class RoboQuadSocialSonar
extends EventFilter2D
implements FrameAnnotater

Demonstrates Javier Movellen's social sonar ideas (simplified grossly) using the RoboQuad from WowWee and an AE Sensor. The AE sensor is used to detect a response to an utterance from the RoboQuad based on simple measures of event rate.

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

RoboQuadSocialSonar(AEChip chip)

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.
int	getComputeIntervalMs()
java.lang.Object	getFilterState() should return the filter state in some useful form
float	getModulationAveragingTauMs()
float	getModulationCornerFreqHz()
float	getModulationPoleFreqHz()
int	getPingDurationMs()
float	getPingProb()
int	getQuietDurationForPingMs()
float	getResponseFractionThreshold()
float	getResponseModulationThreshold()
int	getWaitForResponseDurationMs()
void	initFilter() this should allocate and initialize memory: it may be called when the chip e.g.
boolean	isFilterEnabled() Filters can be enabled for processing.
boolean	isPrintStats()
void	resetFilter() should reset the filter to initial state
void	setComputeIntervalMs(int computeIntervalMs)
void	setFilterEnabled(boolean yes) Resets the filter
void	setModulationAveragingTauMs(float modulationAveragingTauMs)
void	setModulationCornerFreqHz(float modulationCornerFreqHz)
void	setModulationPoleFreqHz(float modulationPoleFreqHz)
void	setPingDurationMs(int pingDurationMs)
void	setPingProb(float pingProb)
void	setPrintStats(boolean printStats)
void	setQuietDurationForPingMs(int quietDurationForPingMs)
void	setResponseFractionThreshold(float responseFractionThreshold)
void	setResponseModulationThreshold(float responseModulationThreshold)
void	setWaitForResponseDurationMs(int waitForResponseDurationMs)

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, 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

RoboQuadSocialSonar

public RoboQuadSocialSonar(AEChip chip)

Method Detail

getModulationCornerFreqHz

public float getModulationCornerFreqHz()

setModulationCornerFreqHz

public void setModulationCornerFreqHz(float modulationCornerFreqHz)

getModulationPoleFreqHz

public float getModulationPoleFreqHz()

setModulationPoleFreqHz

public void setModulationPoleFreqHz(float modulationPoleFreqHz)

getModulationAveragingTauMs

public float getModulationAveragingTauMs()

setModulationAveragingTauMs

public void setModulationAveragingTauMs(float modulationAveragingTauMs)

isPrintStats

public boolean isPrintStats()

isFilterEnabled

public boolean isFilterEnabled()

Description copied from class: EventFilter

Filters can be enabled for processing.

Overrides:

isFilterEnabled in class EventFilter

Returns:

true if filter is enabled

setPrintStats

public void setPrintStats(boolean printStats)

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

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()

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

getPingProb

public float getPingProb()

setPingProb

public void setPingProb(float pingProb)

getPingDurationMs

public int getPingDurationMs()

setPingDurationMs

public void setPingDurationMs(int pingDurationMs)

getWaitForResponseDurationMs

public int getWaitForResponseDurationMs()

setWaitForResponseDurationMs

public void setWaitForResponseDurationMs(int waitForResponseDurationMs)

getResponseFractionThreshold

public float getResponseFractionThreshold()

setResponseFractionThreshold

public void setResponseFractionThreshold(float responseFractionThreshold)

getResponseModulationThreshold

public float getResponseModulationThreshold()

setResponseModulationThreshold

public void setResponseModulationThreshold(float responseModulationThreshold)

getQuietDurationForPingMs

public int getQuietDurationForPingMs()

setQuietDurationForPingMs

public void setQuietDurationForPingMs(int quietDurationForPingMs)

getComputeIntervalMs

public int getComputeIntervalMs()

setComputeIntervalMs

public void setComputeIntervalMs(int computeIntervalMs)