com.ridgesoft.robotics.sensors.CMUcam
Class CMUcamTrackingData

java.lang.Object
  com.ridgesoft.robotics.sensors.CMUcam.CMUcamData
      com.ridgesoft.robotics.sensors.CMUcam.CMUcamTrackingData

public class CMUcamTrackingData
extends CMUcamData

Class to hold tracking data reported by the CMUcam or CMUcam2.

This class reports data received in a type C, M, N or T packet from the CMUcam or CMUcam2.

• If the type is N, all of the fields contain data reported by the camera except the tiltServoPosition.
• If the type is M, all of the fields contain data reported from the CMUcam except the servo position fields.
• If the type is C, the mx, my and servo position fields are not valid.
• If the packet type is T, the servo position fields are only valid for the servos that are configured to be controlled by the camera.

The unused fields contain 0 when they are not valid.

Field Summary

short	confidence A measure of the confidence in the tracking data.
short	mx The middle mass x coordinate.
short	my The middle mass y coordinate.
short	panServoPosition The current position of the panning servo.
short	pixels A measure of the number of pixels in the bounded tracking rectangle.
short	tiltServoPosition The current position of the tilt servo.
short	x1 The left most corner's x coordinate.
short	x2 The right most corner's x coordinate.
short	y1 The left most corner's y coordinate.
short	y2 The right most corner's y coordinate.

Fields inherited from class com.ridgesoft.robotics.sensors.CMUcam.CMUcamData

type

Method Summary

String

toString() Returns a String representation of this object.

Methods inherited from class java.lang.Object

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

Field Detail

confidence

public final short confidence

A measure of the confidence in the tracking data.

mx

public final short mx

The middle mass x coordinate. Valid for type M and N packets. Zero for type C packets.

my

public final short my

The middle mass y coordinate. Valid for type M and N packets. Zero for tyep C packets.

panServoPosition

public final short panServoPosition

The current position of the panning servo.

This is only valid if pan servo position reporting is turned on.

pixels

public final short pixels

A measure of the number of pixels in the bounded tracking rectangle.

tiltServoPosition

public final short tiltServoPosition

The current position of the tilt servo.

This is only valid if tilt servo position reporting is turned on.

x1

public final short x1

The left most corner's x coordinate.

x2

public final short x2

The right most corner's x coordinate.

y1

public final short y1

The left most corner's y coordinate.

y2

public final short y2

The right most corner's y coordinate.

Method Detail

toString

public String toString()

Description copied from class: Object

Returns a String representation of this object.

This implementation returns the class name followed by '@' followed by the hash code.

Overrides:

toString in class Object

Returns:

string representation of this object