uk.ac.ed.inf.sdp2012.group7.vision
Class OrientationFinder

java.lang.Object
  uk.ac.ed.inf.sdp2012.group7.vision.OrientationFinder

public class OrientationFinder
extends java.lang.Object

Get the robot's orientation

Author:

Dale Myers, Rado

Constructor Summary

OrientationFinder()
A constructor

OrientationFinder(ThresholdsState thresholdsState)
A constructor

Method Summary

java.awt.Point	findOrientation(java.util.ArrayList<java.awt.Point> pixels, java.awt.Point centroid) Terribly named Finds the farthest point on T away from centroid to use when calculating orientation
double	findOrientation(int robotX, int robotY, int greyX, int greyY) Fins the orientation Finds the orientation of a robot, given a list of the points contained within it's T-shape (in terms of a list of x coordinates and y coordinates), the mean x and y coordinates, and the image from which it was taken.

Methods inherited from class java.lang.Object

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

Constructor Detail

OrientationFinder

public OrientationFinder(ThresholdsState thresholdsState)

A constructor

Parameters:

thresholdsState -

OrientationFinder

public OrientationFinder()

A constructor

Method Detail

findOrientation

public double findOrientation(int robotX,
                              int robotY,
                              int greyX,
                              int greyY)

Fins the orientation Finds the orientation of a robot, given a list of the points contained within it's T-shape (in terms of a list of x coordinates and y coordinates), the mean x and y coordinates, and the image from which it was taken.

Parameters:

xpoints - The x-coordinates of the points contained within the T-shape.

ypoints - The y-coordinates of the points contained within the T-shape.

meanX - The mean x-point of the T.

meanY - The mean y-point of the T.

image - The image from which the points were taken.

showImage - A boolean flag - if true a line will be drawn showing the direction of orientation found.

Returns:

An orientation from -Pi to Pi degrees.

Throws:

NoAngleException

findOrientation

public java.awt.Point findOrientation(java.util.ArrayList<java.awt.Point> pixels,
                                      java.awt.Point centroid)

Terribly named Finds the farthest point on T away from centroid to use when calculating orientation

Parameters:

pixels - The points on the T

centroid - The robot centroid

Returns:

The farthest point