sk.fiit.jim.agent.models

Class KalmanAdjuster

java.lang.Object

sk.fiit.jim.agent.models.KalmanAdjuster

All Implemented Interfaces:

ParsedDataObserver

public class KalmanAdjuster
extends Object
implements ParsedDataObserver

KalmanAdjuster.java Adjusts percieved coordinates of ball and flags on the pitch using a kalman filter, thereby attempting to reduce noise for further calculations.

Field Summary

Fields

Modifier and Type	Field and Description
private KalmanForVector	ballKalman
private HashMap<FixedObject,Double>	fixedObjectSeenTimes
private HashMap<FixedObject,KalmanForVector>	fixedObjectsKalmans
private double	lastTimeBallSeen
(package private) double	now Current time.
private static double	TIME_CONSIDERED_OBSOLETE

Constructor Summary

Constructors

Constructor and Description
KalmanAdjuster()

Method Summary

Methods

Modifier and Type	Method and Description
private void	adjustBallPosition(ParsedData data)
private void	adjustFixedPointsPosition(Map<FixedObject,Vector3D> fixedObjects)
private KalmanForVector	freshKalman()
private boolean	isObsolete(double when)
void	processNewServerMessage(ParsedData data)

Methods inherited from class java.lang.Object

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

Field Detail

TIME_CONSIDERED_OBSOLETE

private static final double TIME_CONSIDERED_OBSOLETE

See Also:

Constant Field Values

now

double now

Current time.

ballKalman

private KalmanForVector ballKalman

lastTimeBallSeen

private double lastTimeBallSeen

fixedObjectsKalmans

private HashMap<FixedObject,KalmanForVector> fixedObjectsKalmans

fixedObjectSeenTimes

private HashMap<FixedObject,Double> fixedObjectSeenTimes

Constructor Detail

KalmanAdjuster

public KalmanAdjuster()

Method Detail

processNewServerMessage

public void processNewServerMessage(ParsedData data)

Specified by:

processNewServerMessage in interface ParsedDataObserver

adjustBallPosition

private void adjustBallPosition(ParsedData data)

isObsolete

private boolean isObsolete(double when)

adjustFixedPointsPosition

private void adjustFixedPointsPosition(Map<FixedObject,Vector3D> fixedObjects)

freshKalman

private KalmanForVector freshKalman()